In this paper we consider the problem of optimizing the Frobenious norm of linear static feedback gains of a system with control structure and stability region constraints. We consider four important control structure constraints. These are : (i) static output feedback; (ii) constant gain feedback for multiple operating conditions; (iii) two-controller feedback; and (iv) decentralized feedback. We obtain a nonlinear programming formulation for the optimization problem and present an effective numerical approach for solving it. We include four examples.