There is a tool that seems to have been removed: the Extended Mode for the PID Tuner GUI interface. The first image below shows the extended mode with the Bandwidth and Phase Margin sliders available. The second image shows no option for Extended Design Mode.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/183480/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/183481/image.png)