This paper proposes a controller design method for Hammerstein model which is a dynamical linear system with static input nonlinearity. The method requires only one-shot closed-loop reference response data for controller design. The estimation of the plant model and the validation of the linear part of the plant using the data are performed in time and frequency domains, respectively. Since the method estimates the plant model and the plant is linearized by a nonlinear compensator, the controller for the linearized plant can be designed in consideration of the trade-off between the closed-loop bandwidth and the stability margin by a model-based approach. The effectiveness of the method is numerically evaluated.