This paper presents a control design method for determining proportional-integral-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. The approach can be applied to plants that are stable or unstable, plants given by a model or measured data, and plants of any order, including plants with delays. The algorithm is efficient and fast, and as such can be used in near real-time to determine controller parameters (for online modification of the plant model including its uncertainty and/or the specifications). The method gives an optimal controller for a practical definition of optimality. Furthermore, it enables the graphical portrayal of design tradeoffs in a single plot, highlighting the effects of the gain margin, complementary sensitivity bound, low frequency sensitivity and high frequency sensor noise amplification
