Abstract: A PID controller design procedure is developed in this paper for the control of processes with integrator and time delay. First, an optimal performance index is defined based on robust control theory. Second, two methods are proposed in the light of the characteristics of the system loop transfer function. A type 2 filter is introduced to meet the requirement of trajectory asymptoticall tracking. And a PID controller is obtained analytically. The feature of the controller is that the nominal performance can be evaluated quantitatively and the robustness can be adjusted conveniently.