When you have Control System Toolbox™ and Simulink® Control Design™ software, you can perform frequency-domain optimization of Simulink models.
You can use Simulink Control Design software to configure the Control System Designer app with compensators, inputs, outputs, and loops computed from a Simulink model. For more information, see topics in the Classical Control Design (Simulink Control Design) category.
After you configure the Control System Designer app, use Simulink Design Optimization™ software to optimize the controller parameters of the linearized Simulink model. For an example of optimization-based control design for a model linearized using Simulink Control Design software, see Design Optimization-Based PID Controller for Linearized Simulink Model (GUI).
When tuning compensators derived from Simulink Control Design software, the tuning of compensators from a Simulink model is done through the masks of the Simulink blocks representing each compensator. When selecting parameters to optimize, you can tune the compensator in the pole, zero, or gain format, or in a format consistent with the Simulink block mask.
Mask of a Simulink Compensator Block
Response Optimization Compensators Tab — Parameterized Format
Response Optimization Compensators Tab — Pole/Zero Format
You cannot change the compensator format if the compensator is not a Simulink block.