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In many control applications, there is freedom to place the actuators. The actuator location should be chosen to optimize certain performance objectives. In this paper, H∞-performance with state-feedback is considered. That is, both the controller and the actuator locations are chosen to minimize the effect of disturbances on the output. A framework for calculating H∞-optimal actuator locations is developed. Conditions for well-posedness of the H∞-optimal actuator location problem are presented. Many optimal actuator problems involve systems modelled by partial differential equations and conditions under which approximations yield reliable results are given. A derivative-free optimization algorithm to calculate H∞-optimal actuator locations is described. The results are illustrated using several examples.