Despite the previous efforts in deadbeat control, a need still exists to offer a generic design methodology for both performance and robustness. We propose a hybrid, two-degree-of-freedom (2DOF) controller for the fixed-order constrained optimization problem addressing performance and robustness specifications. The controller is given in terms of the solution of two Diophantine equations. Simple parameterization of these Diophantine equations allows for straight-forward optimization and constraint satisfaction for both performance and robustness measures.