- A method is introduced to design globally stable output feedback controllers for second order systems. To optimize over a stable family of gains, we introduce a homotopy method to sweep through a sequence of nearest neighbor designs to impose inequality constraints on the closed loop eigenvalues. To enhance robustness, we minimize the condition number of the closed loop modal matrix. Two control design examples are given which support the practical value of this approach. The second example is a sixty degree of freedom representation of a three input, six output flexible structure.