PD compensator matlab
Assuming that you can use the Control System Designer app, load the system transfer functions for blocks C and G in "Edit Architecture". For C just use any untuned PD transfer function (like s+1).

Now, open a "Closed-Loop Bode Editor", right-click it and add the phase margin and crossover frequency requirements. There isn't an option named "crossover frequency", but you can use an upper gain limitation to the same effect.

After the requirements are set, open an "Optimization Based Tuning", follow the steps and check both parameters of C to be tuned (Gain and Zero placement). It finds a feasible solution after 14 iterations.

$$ C(s) = 2.27\times10^{-5} (s+1.49\times10^4) $$



Disclosure: I am getting my masters in control systems, but I'm a "numeric solver enthusiast". I would not know, from top of head, to obtain this in a pen-and-paper method, but search for "lead-lag compensators" and you will be on track.