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A simple procedure for direct synthesis of linear feedback systems which is applicable to either continuous or sampled data processes is derived. Given the transfer function of the process to be controlled and constraints on desired closed-loop dynamics, the procedure yields an exact analytical solution for the transfer function of the required compensator without recourse to graphical techniques. Suitable constraints include specification of any or all closed-loop poles and/or specification of the position, velocity, or acceleration error constant. Design for specified rise time, overshoot, mean-squared error, etc., may be accomplished by using an iterative routine. The procedure is ideally suited for implementation by digital computer and has been applied to a simulated adaptive flight control system which required that the entire compensator design procedure be executed by a computer without the aid of human intervention.