Data-driven control is considered a practical design method for control systems. This method enables the direct tuning of controller parameters using only input-output data without requiring plant identification. In several conventional studies, data-driven control was expanded to a two-degree-of-freedom (2DOF) control system to consider responsiveness and robustness. The purpose of this study is to improve both the disturbance and setpoint responses in 2DOF control systems with one-shot controller tuning. An optimal controller satisfying the desired performance was directly obtained by specifying the stability margin as a constraint condition. The frequency characteristics of the plant were estimated using input-output data to confirm that the condition was fulfilled. Finally, a numerical example was presented to demonstrate the effectiveness of the proposed method.

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