It is seen from that most of the control system design has to be done in time domain and frequency domain design is less preferred. Could you please put light on the reason behind it??
The reason is the ease of design. Frequency analysis is used, for example, in radio monitoring where the parameters of the received signal are unknown and it is necessary to determine the components of the ensemble. In the case of the control system, we are talking about deterministic signals. In addition, the behavior of the system where parameters are depend on time is more convenient to analyze on the time axis than on the frequency one.
For my experience frequency domain is always considered in control system DESIGN, to identify poles in the response function and observe phase rotation limits. Control system OPERATION will always be done in time domain to get an instant response. Processing data over longer time periods to see the frequency behaviour will lead to substantial time lag.
If you notice to the history of control engineering science, the frequency domain design is developed for communication purposes, for example Bode diagram and Nyquist diagram.