This paper gives a method for tuning controllers using one-shot closed-loop data. The method estimates the plant impulse response from the data and the response is utilized as the plant model in a Finite Impulse Response filter form. The controller tuning is carried out so that the output fluctuation of the closed-loop system with the plant model due to step disturbance is minimized. Therefore, the proposed method does not require reference models for controller tuning that are necessary in data-driven controller tuning methods such as VRFT (Virtual Reference Feedback Tuning) and FRIT (Fictitious Reference Iterative Tuning). Finally, the effectiveness of the proposed method is shown through experiments of a position control system with a BLDC motor.