A PID controller design method that achieves high performance for a wide range of linear self-regulating processes is proposed. Satisfactory dynamic characteristic can be obtained for processes with various dynamics

including those with low and high-order

small and large dead time

and monotonic and oscillatory responses. The method is developed based on a second-order plus dead time modeling technique and a closed-loop pole allocation strategy through the use of root-locus. The model is proven to be effective for a wide class of processes

and the model is able to generate peaks in those of oscillatory processes. Different closed-loop poles are selected according to the damping ratio and dead time

and simple formulas are provided for the calculation. Simulation show satisfactory results.