After you obtain the genss model representing your control system, use hinfstruct to tune the tunable parameters in the genss model .
hinfstruct takes a tunable linear model as its input.
For example, you can tune controller parameters for the example discussed in Build Tunable Closed-Loop Model for Tuning with hinfstruct using the following command:
[T,gamma,info] = hinfstruct(T0);
Final: Peak gain = 1.56, Iterations = 144
This command returns the following outputs:
T, a genss model object containing the tuned values of C and a.
gamma, the minimum peak closed-loop gain of T achieved by hinfstruct.
info, a structure containing additional information about the minimization runs.