Disclosed is a system configured to determine filter parameters of an audio precompensation filter for the compensation of an associated sound generating system having at least two loudspeakers. The system is configured to obtain sound field models describing the sound field in at least one region of space designated the bright zone and the sound field in at least one region of space designated the dark zone. The system is also configured to obtain a target sound field in the bright zone. Further, the system is configured to determine filter parameters of the audio precompensation filter so that a criterion function is optimized under the constraint of causality and stability of the dynamics of the audio precompensation filter to enable reproduction of a desired target sound field in the bright zone, while reproducing as little sound as possible in the dark zone.