A method for determining 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 ≥ 1 inputs for L input signal or 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 in a listening environment, based on sound measurements at said M measurement positions; • specifying, for each one of said L input signal or signals, a selected one of said N loudspeakers as a primary loudspeaker and a selected subset S including at least one of said N loudspeakers as support loudspeaker or loudspeakers, where said primary loudspeaker is not part of said subset; • specifying, for each primary loudspeaker, a target impulse response at each of said M measurement positions with said target impulse response having an acoustic propagation delay, where said acoustic propagation delay is determined based on the distance from the primary loudspeaker to the respective measurement position; • determining, for each one of said L input signal or signals, based on the selected primary loudspeaker and the selected support loudspeaker or loudspeakers, 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 compensated estimated impulse responses defined by the estimated impulse responses compensated by the audio precompensation controller and the target impulse responses over said M measurement positions. • 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 in a listening environment, based on sound measurements at said M measurement positions; • specifying, for each one of said L input signal or signals, a selected one of said N loudspeakers as a primary loudspeaker and a selected subset S including at least one of said N loudspeakers as support loudspeaker or loudspeakers, where said primary loudspeaker is not part of said subset; • specifying, for each primary loudspeaker, a target impulse response at each of said M measurement positions with said target impulse response having an acoustic propagation delay, where said acoustic propagation delay is determined based on the distance from the primary loudspeaker to the respective measurement position; • determining, for each one of said L input signal or signals, based on the selected primary loudspeaker and the selected support loudspeaker or loudspeakers, 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 compensated estimated impulse responses defined by the estimated impulse responses compensated by the audio precompensation controller and the target impulse responses over said M measurement positions.