The paper describes a simple frequency-domain method for the design of physically realizable dynamic output feedback compensators to achieve pole assignment in single-input, single-output and multivariate systems. The system is augmented by the dynamic compensator and the compensator parameters are then calculated so as to position the closed-loop poles at specified locations in the complex plane. It is shown that depending on the order of the compensator used, some or all poles of the closed-loop system can be positioned arbitrarily. In addition, the minimal order of the compensator required to position all the poles is given. A number of numerical examples are solved to illustrate the method,