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An analytical feedback design technique is presented here for single-input-output processes which are characterized by their rational transfer functions. The design procedure accounts for the topological structure of the feedback system ensuring asymptotic stability for the closed-loop configuration. The plant or process being controlled can be unstable and/or nonminimum phase. The treatment of feedback sensor noise, disturbance inputs, and process saturation is another major contribution of this work. The cornerstone in the development is the selection of a performance index based on sound engineering considerations. It is these considerations, in fact, which ensure the existence of an optimal compensator for the system and make the performance index a natural one for the problem at hand.