In this technical note an easy-to-use H-infinity/LTRcontrol solution with mixed-sensitivity properties is presented. This theory can be viewed as an expansion of LQG control via H(2)optimization point of view. The proposed methodology allows the control designer to bound the reference tracking frequency peak in the loop shaping at a lower value than the usual LQG/LTR setup, reducing the system overshoot. This feature is obtained by applying the LTR to the H-infinity state-feedback control.