Proportional-integral-derivative (PID) controllers are widely used in industry, because of their simple structure and ease in implementation. A tuning method based on the IMC-PID rule is synthesized for stable single-input-single-output systems. The controller transfer function is expanded, in the vicinity of zero in the complex plane, using a Laurent series, to derive analytical expressions for controller parameters. A tuning parameter is chosen to determine the stability of the response/closed-loop system. PID parameters are obtained for different types of processes, and related robustness issues are also discussed.