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A method for the design of continuous-time systems approximating prescribed impulse response is presented. The method is based on the least-squares error criterion. Using zero-pole-gain representation of the system, a constrained optimization problem is formed. The optimum is found by iterative procedure in which a second-order cone program is solved in each iteration. The method is applied in the design of continuous-time wavelet filters and high-voltage pulse-forming networks. It proved to be fast with low sensitivity to the iteration starting-point. Furthermore, it is suitable for the design of high-order systems.