A new autotuning method, based on an identification procedure under P, PI or PID feedback, has been developed to tune PID controllers automatically. The process is identified as a second-order plus dead-time model. Simple algorithms for tuning P, PI and PID controllers are proposed to meet desired specifications on dominant pole placement. IMC-PID controller settings are also provided based on the resulting model. The method can be applied when initial PID settings are required or the settings need to be adapted to changing conditions. A simulation study demonstrates the validity and self-tuning capability of the method for a wide variety of process dynamics,