Proportional, integral, and derivative (PID) parameters are obtained for general process models by approximating the feedback form of an IMC controller with a Maclaurin series in the Laplace variable. These PID parameters yield closed-loop responses that are closer to the desired responses than those obtained by PID controllers tuned by other methods. The improvement in closed-loop control peformance becomes more prominent as the dead time of the process model increases. A new design method for two degree of freedom controllers is also proposed. Such controllers are essential for unstable processes and provide significantly improved dynamic performance ouer single degree of freedom controllers for stable processes when the disturbances enter through the process.