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Abstract To achieve scalable quantum computing, improving entangling-gate fidelity and its implementation efficiency are of utmost importance. We present here a linear method to construct provably power-optimal entangling gates on an arbitrary pair of qubits on a trapped-ion quantum computer. This method leverages simultaneous modulation of amplitude, frequency, and phase of the beams that illuminate the ions and, unlike the state of the art, does not require any search in the parameter space. The linear method is extensible, enabling stabilization against external parameter fluctuations to an arbitrary order at a cost linear in the order. We implement and demonstrate the power-optimal, stabilized gate on a trapped-ion quantum computer.