A computer implemented method for tuning design parameters in an arbitrary feedback control structure (720,910,1705), the method comprising: identifying one or more tunable components (730,740,1515-1525,1805-1840) of the arbitrary feedback control structure (720,910,1705), 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 (730,740,1515-1525,1805-1840); transforming the arbitrary feedback control structure (720,910,1705) 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 (720,910,1705), and a collection formed using the tunable components (730,740,1515-1525, 1805-1840), where the collection is grouped into a block diagonal fashion; formulating one or more H∞ constraints from design requirements, where the H∞ constraints pertain to one or more point-to-point transfer functions in a closed-loop system; statically or dynamically parameterizing the tunable components (730,740, 1515-1525,1805-1840); interacting with the free parameters of the tunable components (730,740, 1515-1525,1805-1840) based on the parameterizing; and tuning the feedback control structure (720,910,1705) 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 (730,740,1515-1525,1805-1840) are in the block diagonal form, and tunes the parameters to enforce the H∞ constraints. identifying one or more tunable components (730,740,1515-1525,1805-1840) of the arbitrary feedback control structure (720,910,1705), 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 (730,740,1515-1525,1805-1840); transforming the arbitrary feedback control structure (720,910,1705) 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 (720,910,1705), and a collection formed using the tunable components (730,740,1515-1525, 1805-1840), where the collection is grouped into a block diagonal fashion; a lumped linear model that includes known and fixed components in the arbitrary feedback control structure (720,910,1705), and a collection formed using the tunable components (730,740,1515-1525, 1805-1840), where the collection is grouped into a block diagonal fashion; formulating one or more H∞ constraints from design requirements, where the H∞ constraints pertain to one or more point-to-point transfer functions in a closed-loop system; statically or dynamically parameterizing the tunable components (730,740, 1515-1525,1805-1840); interacting with the free parameters of the tunable components (730,740, 1515-1525,1805-1840) based on the parameterizing; and tuning the feedback control structure (720,910,1705) 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 (730,740,1515-1525,1805-1840) are in the block diagonal form, and tunes the parameters to enforce the H∞ constraints. operates on the standard form, operates on the tunable parameters when the tunable components (730,740,1515-1525,1805-1840) are in the block diagonal form, and tunes the parameters to enforce the H∞ constraints.