You may try a software tool called PIDLab, which was developed at our work workplace. It allows interactive tuning of PID control loops using frequency-domain loopshaping method.
You can find more details at http://www.pidlab.com/en/pid-control-lab-3-1
There is a reference guide as well as a set of video tutorials describing the workflow step by step.
The application is written in the form of a Java applet. You may encounter some difficulties trying to run it in your browser. This is due to recent security policy changes.
In case that you won’t be able to make it work, you may download an offline version of the application here: