How can i write a matlab code for PID tuning using direct synthesis?

please i need help to write a sample matlab code on how to simulate PID using direct systhesis, the parameters given are , transfer function, reference model, 2 frequency point, Kp, Ki, Kd?, a step load of 0.01 is applied at t=1, tf= 120(0.3s+1)(0.08s+1)/((20s+1)(0.3s+1)(0.08s+1) +120/2.4) reference model = 0.4s/0.4s+1 frequency point w0 = 0.03 and w1 = 0.06 kp = 1.52. ki = 2.50/s, kd = 0.27s. please i really need help

[Arun Yadav]

Pid control direct synthesis mathod matlab coding

Answer 1

[Ojasvi Shaklya]

Here I've solved a similar problem in Matlab ,hope this helps

https://github.com/ojasvishaklya/direct_synthesis

Matlab File