\tikzset{block/.default={0.8cm}{0.6cm}}
\tikzset{addb/.append style={scale=0.7}}
\tikzset{node distance=0.6}
\def\cdist{0.7}

\definecolor{T}{rgb}{0.230, 0.299, 0.754}%
\definecolor{S}{rgb}{0.706, 0.016, 0.150}%
\setlength\fwidth{7cm}
\setlength\fheight{5cm}

\begin{tikzpicture}
  \begin{axis}[%
    name=axis,
    width=\fwidth,
    height=\fheight,
    at={(0, 0)},
    scale only axis,
    separate axis lines,
    every outer x axis line/.append style={black},
    every x tick label/.append style={font=\color{black}},
    every x tick/.append style={black},
    xmode=log,
    xmin=0.1,
    xmax=1000,
    xminorticks=true,
    xlabel={Frequency [Hz]},
    every outer y axis line/.append style={black},
    every y tick label/.append style={font=\color{black}},
    every y tick/.append style={black},
    ymode=log,
    ymin=0.001,
    ymax=10,
    yminorticks=true,
    ylabel={Magnitude},
    axis background/.style={fill=white},
    xmajorgrids,
    xminorgrids,
    ymajorgrids,
    yminorgrids
    ]
    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
    table[row sep=crcr]{%
      0.1	4.7609074288834\\
      0.457784053837662	4.74112847250108\\
      0.781435060784454	4.70208061093208\\
      1.0991097009295	4.64559165613624\\
      1.42283045721435	4.57144906349989\\
      1.75891659032773	4.47927616460061\\
      2.09566239948043	4.37423445322045\\
      2.45126006203334	4.25274519592358\\
      2.8408836901833	4.11095719445138\\
      3.26222200971167	3.95170788088451\\
      3.71167181947577	3.77948905141281\\
      4.18428850790158	3.59988757314696\\
      4.71708469091702	3.40317136463527\\
      5.31772317785097	3.19223684289429\\
      5.99484250318941	2.97087790006113\\
      6.82077673286568	2.72585419958062\\
      7.76050333513357	2.47949503869403\\
      8.9114823228402	2.2201435349723\\
      10.3279473191895	1.95491825546796\\
      12.0804213467733	1.69160934903556\\
      14.3932264471941	1.42447068049222\\
      17.3076553419573	1.17667603248786\\
      21.1995345753607	0.943491337665097\\
      26.2070669648385	0.740920673515988\\
      32.6974974451177	0.569453372601831\\
      41.1731993116168	0.427919272009563\\
      51.8459354389291	0.317863515154134\\
      65.8898955079995	0.230558428152838\\
      85.2964449974102	0.1611173349527\\
      114.566872863487	0.105607825522203\\
      228.74908173557	0.0390036255196556\\
      272.543253128103	0.0307810979565345\\
      315.863540826782	0.025500739341156\\
      359.381366380463	0.0218605610825003\\
      405.142317111465	0.0191453206052172\\
      452.538627817017	0.0171066280251345\\
      505.479682119124	0.0154393411147139\\
      559.432570616938	0.0141825204910006\\
      619.144175597784	0.0131421696026314\\
      685.229159528406	0.012282656024432\\
      758.367791499719	0.0115737646620205\\
      847.08682665574	0.0109423524789141\\
      946.1848194722	0.0104322816237634\\
      1000	0.0102154679782451\\
    };
    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
    table[row sep=crcr]{%
      20	0.7\\
      50	0.7\\
    };
    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
    table[row sep=crcr]{%
      50	0.1\\
      500	0.1\\
    };
    \addplot [color=T, line width=1.5pt, forget plot, upperbound]
    table[row sep=crcr]{%
      500	0.01\\
      1000	0.01\\
    };
    \addplot [color=S, line width=1.5pt, forget plot, upperbound]
    table[row sep=crcr]{%
      0.02	1e-05\\
      2	0.1\\
    };

    \node[draw, fill=white, align=center, anchor=west] (noise) at (20, 0.01){Noise\\Attenuation};
    \draw[->] (noise.north) -- (100, 0.1-|noise.north);
    \draw[->] (noise.east) -- (500, 0.01);

    \node[draw, fill=white, align=center, anchor=north east] (bandwidth) at (900, 8) {Bandwidth\\Limitation};
    \draw[->] (bandwidth.west) -- (20, 0.7);

    \node[draw, fill=white, align=center, anchor=south west] (robust) at (0.2, 1) {Robust\\Stability};
    \draw[->] (robust.east) -- (8,2|-robust.east);

    \node[draw, fill=white, align=center, anchor=south west] (dist) at (0.11, 0.1) {Disturbance\\Rejection};
    \draw[->] (dist.south) -- (1, 0.025);
  \end{axis}

  % \begin{customlegend}[legend cell align=left, %<= to align cells
  %   legend entries={ % <= in the following there are the entries
  %   $S$,
  %   $T$
  % },
  %   legend style={at={(axis.north east)}, outer sep=5pt, font=\footnotesize}]
  %   \addlegendimage{upperbound, S}
  %   \addlegendimage{upperbound, T}
  % \end{customlegend}

\end{tikzpicture}
