Use Control System Toolbox™ to design single-input single-output (SISO) controllers using interactive and automated tuning methods. Use Bode Editor and Root Locus Editor to add and remove controller poles and zeros and to change loop gain. View changes in closed-loop step response as you tune controller parameters. Observe system characteristics such as rise time, overshoot, and gain and phase margins. Create and store multiple controller designs for comparing and choosing the best option.