A method for determining filter parameters of an audio precompensation controller for an associated sound generating system comprising a total of N ≥ 2 loudspeakers, each having a loudspeaker input, said audio precompensation controller having a number L ≥ 2 inputs for L input signals and N outputs for N controller output signals, one to each loudspeaker of said sound generating system, said audio precompensation controller having a number of adjustable filter parameters, with said method comprising the steps of: - estimating, for each one of at least a subset of said N loudspeaker inputs, an impulse response at each of a plurality M ≥ 2 of measurement positions, distributed in a region of interest including a listening position in a listening environment, based on sound measurements at said M measurement positions; - specifying, for each one of said L input signals, a selected one of said N loudspeakers as a primary loudspeaker; - specifying, for each one of said L input signals, a loudspeaker pair, where said loudspeaker pair is required to be symmetric with respect to the listening position according to a sound reproduction standard, and further characterized by symmetrical room transfer functions for at least two symmetrical measurement positions comprised in said M measurement positions with respect to the listening position and loudspeaker pair according to the sound reproduction standard; - specifying, for each primary loudspeaker, a target impulse response at each of said M measurement positions; - determining, for each one of said L input signals, based on the selected primary loudspeaker and the selected loudspeaker pair, filter parameters of said audio precompensation controller so that a criterion function is optimized under the constraint of stability of the dynamics of said audio precompensation controller, with said criterion function including: - a weighted summation of powers of differences between the compensated estimated impulse responses and the target impulse responses over said M, or a subset of said M, measurement positions, and - a weighted summation of powers of differences between compensated estimated impulse responses corresponding to the symmetrical room transfer functions. - estimating, for each one of at least a subset of said N loudspeaker inputs, an impulse response at each of a plurality M ≥ 2 of measurement positions, distributed in a region of interest including a listening position in a listening environment, based on sound measurements at said M measurement positions; - specifying, for each one of said L input signals, a selected one of said N loudspeakers as a primary loudspeaker; - specifying, for each one of said L input signals, a loudspeaker pair, where said loudspeaker pair is required to be symmetric with respect to the listening position according to a sound reproduction standard, and further characterized by symmetrical room transfer functions for at least two symmetrical measurement positions comprised in said M measurement positions with respect to the listening position and loudspeaker pair according to the sound reproduction standard; - specifying, for each primary loudspeaker, a target impulse response at each of said M measurement positions; - determining, for each one of said L input signals, based on the selected primary loudspeaker and the selected loudspeaker pair, filter parameters of said audio precompensation controller so that a criterion function is optimized under the constraint of stability of the dynamics of said audio precompensation controller, with said criterion function including: - a weighted summation of powers of differences between the compensated estimated impulse responses and the target impulse responses over said M, or a subset of said M, measurement positions, and - a weighted summation of powers of differences between compensated estimated impulse responses corresponding to the symmetrical room transfer functions. - a weighted summation of powers of differences between the compensated estimated impulse responses and the target impulse responses over said M, or a subset of said M, measurement positions, and - a weighted summation of powers of differences between compensated estimated impulse responses corresponding to the symmetrical room transfer functions.