H-infinity loop-shaping

en-US/ˈeɪt͡ʃ - ɪnˈfɪnɪti ˈlup - ˈʃeɪpɪŋ/
en-GB/eɪt͡ʃ - ɪnfɪnɪtiː ˈluːp - ˈʃeɪpɪŋ/

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design method