Simulink Control Design™ - MathWorks

• Graphically tune the compensator poles, zeros, and gains using open/closed-loop Bode,
  root locus, or Nichols editor plots. Click Tuning Methods, and select an editor under
  Graphical Tuning.


• Optimize compensator parameters using both time-domain and frequency-domain
  design requirements (requires Simulink Design Optimization™ software). Click
  Tuning Methods, and select Optimization based tuning. For more information, see
  "Enforcing Time and Frequency Requirements on a Single-Loop Controller Design".


• Compute initial compensator parameters using automated tuning based on parameters
  such as closed-loop time constants. Click Tuning Methods, and select either PID
  tuning, IMC tuning, Loop shaping (requires Robust Control Toolbox™ software), or
  LQG synthesis.

Complete Design

The design requirements for the reference step response in the example "Single Loop

Feedback/Prefilter Design" can be met with the following Lead-Lag Controller block

parameters:

9 Classical Control Design