Abstract: A simple design and parameters tuning approach of IMC-PID(internal model control PID) controller for the typical first order plus time-delay(FOPTD),second order plus time-delay(SOPTD) and first order delay integrating(FODI) processes is proposed.The time-delay term in the system model is approximated by using the first-order Taylor series.So, the expressions of the IMC controller parameters are deduced,and they have only one adjustable parameterβwhich is directly related to system dynamic performance and robustness.In addition,the analytical expression for robustly tuning the adjustable parameterβof the controller is derived based on the robustness index of the control system.The simulation results show that the proposed method provide a better performance of the command value tracking,disturbance rejection and robustness against parameters perturbation.