“…From QFT control toolbox we can find that the selected frequency set for the design is, S = 2𝜋 {1, 2.5, 7.5, 10, 20, 30, 50, 100, 200, 274, 350, 500, 1000, 2000, 5000, 12,500} Hz Now tour goal is to use loop shaping technique so that we can add suitable poles/zeros to the selected plant model with the end goal to fulfill the QFT limits at every frequency [25]. Fulfilling the limits implies the nominal plant must lie, over the open limits at low frequency and outside of the closed margin of stability limits at high frequency for the purpose of satisfying the specification limitation and so the designed controller is [8,28]:…”