A general automated method for synthesizing the design of both the topology and parameter values for controllers is described. The automated method automatically makes decisions concerning the total number of signal processing blocks to be employed in the controller, the type of each signal processing block, the topological interconnections between the signal processing blocks, the values of all parameters for the signal processing blocks, and the existence, if any, of internal feedback between the signal processing blocks within the controller. The general automated method can simultaneously optimize prespecified performance metrics (such as minimizing the time required to bring the plant outputs to the desired values as measured by the integral of the time-weighted absolute error or the integral of the squared error), satisfy time-domain constraints (such as overshoot, disturbance rejection, limits on control variables, and limits on state variables), and satisfy frequency domain constraints (bandwidth).