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Currently, the demand for a better alternative to linear PID controllers is increasing due to the rising expectations of the high-tech industry. In literature, it has been shown that Constant in gain Lead in phase (CgLp) compensators, which are a type of reset element, have high potential to improve the performance of systems. Although there are few works which investigate tuning of these compensators, the high order harmonics and steady-state performances have not yet been considered in these methods. Recently, a frequencydomain framework has been developed to analyze closed-loop performances of reset control systems which includes high order harmonics. In this paper, this frequency-domain framework is combined with loop-shaping constraints to provide a reliable frequency-domain tuning method for CgLp compensators. Finally, different performance metrics of a CgLp compensator are compared with those of a PID controller on a precision positioning stage. The results show that the presented tuning method is effective, and the system with the CgLp compensator achieves superior dynamic performance to that of the PID controller.