The tutorial deals with the ways of independent formation of static and dynamic quality indexes of automatic control systems (ACS) with state controllers, state observers and polynomial controllers of �input-output� type. They allow ensuring the specified invariance degree being based on the implementation of additional feedbacks on the controlled object state coordinates and their time derivatives. The methods of structure-parametric synthesis of controllers with additional feedbacks are introduced. These methods develop the theory of dynamic systems modal control. The means of increasing ACS robust properties synthesized considering the controlled object peculiarities, determined by the relation between zeros and poles of their transfer functions, are explained. The explanation is illustrated by practical examples of structure-parametric synthesis of control systems of typical dynamic objects. The tutorial is developed for students, post-graduate students and engineers aimed at profound knowledge acquisition in the field of technical objects automatic control theory.

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