This paper introduces a new synthesis method, based on a computation method for solving H∞-optimization problem given by Glover (1986) and a technique ofjω-axis shifting, for designing an H∞-optimal robust controller for the MIMO system. With this method we can optimize the excess stability margin under the requirement that all the poles of the nominal closed-loop system (Cl-system) be located left of thejω-axis with a required distancedand ensure asymptotic regulation and disturbance rejection for a class of system input and disturbance if the plant perturbation does not exceed the excess stability margin. Another advantage is that there are not any constraints on the poles and zeros of the plant when using this method