1. A method, implemented by at least one device, the method comprising: receiving a model including a plant portion that models elements that are to be controlled and a controller portion that models elements used to control the plant portion, the plant and controller portions of the model interacting with each other in a multi-input, multi-output (MIMO) feedback loop configuration, where the receiving is performed by the at least one device; receiving an identification of tunable elements of the controller portion of the model, where the tunable elements are associated with adjustable parameters relating to an operation of the tunable elements, and where the receiving the identification of the tunable elements is performed by the at least one device; receiving one or more requirements, relating to constraints of open or closed loop transfer functions; calculating, using non-smooth H-infinity optimization techniques, values for the adjustable parameters of the tunable elements, the calculating being based on: the model, the identification of the tunable elements, and the one or more requirements, and where the calculating is performed by the at least one device; and outputting the values for the adjustable parameters.