This paper presents a new PID controller design method based on process frequency response information. The novel ideas lie in the way that the closed-loop performance is specified via the desired response of the control signal, and in the use of only one (for PI control) or two (for PID control) process frequency response points in the design. Straightforward analytical formulas are given for the PID controller parameters. Simulation studies are given to compare this design method with other design methods found in the literature. The results indicate that the new method provides much smoother responses in both the control signal and process output, which are generally more desirable in the process control setting.