This paper proposes an algorithm for designing a measured output-feedback controller with given or achievable engineering performance indices for linear multivariable systems. The plant is subjected to bounded exogenous disturbances from the class of polyharmonic functions with an infinite number of harmonics and a bounded sum of their amplitudes for each disturbance component. As a result, additional tracking errors appear in controlled variables. The problem is to design a multivariable output-feedback controller ensuring given or achievable tracking errors, the settling time determined by a given or achievable degree of stability of the closed loop system, and a set of the oscillation indices M_i for the ith closed loop relating the ith reference signal g_i to the ith controlled variable z_i. In addition, the controller should ensure the conditions M