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HVDC transmission systems can overcome some inherent limitations of AC transmission systems such as transmission between over long distances and transmission via cables. One of the important aspects of HVDC systems is the improvement of stability can be achieved by AC/DC transmission systems. This paper presents a new LQG/LTR robust controller method, which can be used for small signal stability improvement of AC/DC systems. The results demonstrate that significant improvements in either of oscillatory and dynamic stability have been obtained. The capability of the suggested method and designed controller has been verified by simulation results.