A method is presented for assigning min (n+q, (q+ 1)m+q) closed-loop poles of annth order linear time invariant system (moutputs,linputs,m≥l) using a linear, time invariant, proper, output feedback compensator of orderq. It is also shown how the locations of remaining unassigned poles could be controlled. The compensator parameters are obtained by solving a linear matrix equation.