Optimization algorithms are used to tune controller parameters until the design meets system requirements. A mechatronic actuation system modeled in Simscape™ Electrical™ needs to track a reference signal without exceeding force limits for an actuator. Tuning controller parameters in a simulation with the nonlinear plant model achieves results that would not be possible with pure linear control theory alone. The 3D mechanical system is modeled in Simscape Multibody™, and Simulink® Design Optimization™ is used to specify and solve the optimization problem.