1. A computer implemented method for tuning design parameters in an arbitrary feedback control structure, the method comprising: identifying one or more tunable components, where each tunable component includes: one or more free parameters that are tuned; identifying one or more feedback loops, where the one or more feedback loops include the one or more tunable components; transforming the arbitrary feedback control structure into a standard form, where the standard form includes: a lumped linear model that includes known and fixed components in the arbitrary feedback control structure, and a collection formed using the tunable components, where the collection is grouped into a block diagonal fashion; using H∞ objectives or constraints for expressing design objectives and design requirements, where the H∞ objectives or constraints pertain to one or more point-to-point transfer functions in a closed-loop system; statically or dynamically parameterizing the tunable components; interacting with the free parameters of the tunable components based on the parameterizing; and tuning the feedback control structure using a tuner based on a member selected from a class of non-smooth H∞ optimization algorithms, where the tuner: operates on the standard form, operates on the tunable parameters when the tunable components are in the block diagonal form, and tunes the parameters to: minimize the H∞ objectives, or enforce the H∞ constraints.