In this paper we propose a co-design method for control systems using combination of models. By co-design," we mean a cooperative design method in which the behavior of the entire system is simulated as a single model while parameters of the system are being optimized. Our co-design method enables the various subsystems in the system, which have been designed independently as tasks assigned to different designers in the traditional design method, to be designed simultaneously in a unified cooperative way from the system-wide perspective of a system designer. Our proposed method combines models of controlling and controlled subsystems into a single model for the behavior of the entire control system. After the optimum control conditions are determined through simulation of the combined models, based on the corresponding algorithms and parameters, ASIC design proceeds quickly with accurate verification using iterative replacements of the behavior model by the electronic circuit model. To evaluate the proposed method, we implemented a design environment. We then applied our method to the design of ASICs in three test cases (in a control system and in audio-visual systems) to investigate its effectiveness. This paper introduces the concepts of the proposed co-design method, the design environment and the experimental results, and points out the new issues for system design.