Recently, the, present authors proposed a new method to design two-degree-of-freedom robust servo systems for step references and step disturbances. In this method, the tracking characteristics for step references are determined optimally with respect to a quadratic-integral performance index, while the feedback characteristics for step disturbances are determined also optimally with respect to another quadratic-integral performance index. The paper extends these results by introducing frequency-dependent weighting matrices into the latter performance index. By employing appropriate frequency-dependent weighting matrices, some sort of loop-shaping can be achieved for the sensitivity characteristics, and thus more design freedom is obtained. In particular, leap-shaping ability and tuning ability can be, separated in same sense, A numerical example is, also studied to illustrate the results.