def METHOD_NAME(wb1, wb2):
    """synth(wb1,wb2) -> k,gamma
    wb1: S weighting frequency
    wb2: KS weighting frequency
    k: controller
    gamma: H-infinity norm of 'design', that is, of evaluation system
    with loop closed through design
    """
    g = plant()
    wu = ss([], [], [], np.eye(2))
    wp1 = ss(weighting(wb=wb1, m=1.5, a=1e-4))
    wp2 = ss(weighting(wb=wb2, m=1.5, a=1e-4))
    wp = wp1.append(wp2)
    k, _, info = mixsyn(g, wp, wu)
    return k, info[0]