A method of controlling an array of loudspeakers, the method comprising: receiving a plurality of input audio signals (d 1,...,d M) to be reproduced, by the array, at a respective plurality of control points (x 1,...,x M) in an acoustic environment; and generating a respective output audio signal (q) for each of the loudspeakers in the array by applying a set of filters to the plurality of input audio signals, wherein the set of filters is based on: a first plurality of filter elements based on a first approximation of a set of transfer functions, each transfer function in the set of transfer functions being between an audio signal applied to a respective one of the loudspeakers and an audio signal received at a respective one of the control points from the respective one of the loudspeakers; and a second plurality of filter elements based on a second approximation of the set of transfer functions, wherein the first approximation is based on a free-field acoustic propagation model and/or a point-source acoustic propagation model and the second approximation accounts for one or more of reflection, refraction, diffraction or scattering of sound in the acoustic environment, and wherein the set of filters is determined based on an inverse of a matrix (GC H) containing the first and second pluralities of filter elements, the matrix being determined based on: in the frequency domain, a product of a second matrix containing the second plurality of filter elements and a first matrix containing the first plurality of filter elements (C H) or an equivalent operation in the time domain. receiving a plurality of input audio signals (d 1,...,d M) to be reproduced, by the array, at a respective plurality of control points (x 1,...,x M) in an acoustic environment; and generating a respective output audio signal (q) for each of the loudspeakers in the array by applying a set of filters to the plurality of input audio signals, wherein the set of filters is based on: a first plurality of filter elements based on a first approximation of a set of transfer functions, each transfer function in the set of transfer functions being between an audio signal applied to a respective one of the loudspeakers and an audio signal received at a respective one of the control points from the respective one of the loudspeakers; and a second plurality of filter elements based on a second approximation of the set of transfer functions, a first plurality of filter elements based on a first approximation of a set of transfer functions, each transfer function in the set of transfer functions being between an audio signal applied to a respective one of the loudspeakers and an audio signal received at a respective one of the control points from the respective one of the loudspeakers; and a second plurality of filter elements based on a second approximation of the set of transfer functions, wherein the first approximation is based on a free-field acoustic propagation model and/or a point-source acoustic propagation model and the second approximation accounts for one or more of reflection, refraction, diffraction or scattering of sound in the acoustic environment, and wherein the set of filters is determined based on an inverse of a matrix (GC H) containing the first and second pluralities of filter elements, the matrix being determined based on: in the frequency domain, a product of a second matrix containing the second plurality of filter elements and a first matrix containing the first plurality of filter elements (C H) or an equivalent operation in the time domain.