More generally, you can specify a frequency-dependent attenuation profile, for example
s = tf('s');
R2 = TuningGoal.Rejection('u',(s+10)/(s+0.1));
specifies an attenuation factor of 100 below 0.1 rad/s gradually decreasing to 1 (no
attenuation) after 10 rad/s.
viewGoal(R2)
Frequency-Domain Specifications