LQ-servo design procedure introduced by Athans is a method using a partial states feedback and an output feedback in order to improve the poor performance robustness of the LQR as well as to maintain its stability robustness. Although the method guarantees good stability robustness, it is not effective in performance robustness as it does not match the singular value at low or high frequencies of the transfer matrix obtained by breaking at the plant output. This paper intends propose of a new method, using the limited behaviour of the control gain introduced by Kwakernaak and Sivan, in order to improve it does it refer to controlga introduced by kwakernaak or the new metho Anblguouls.