Estimating the first order plus time delay model on the basis of the step responses has been widely used in industry for the tuning of PID controllers. Even though various model identification methods from simple graphical approaches to complicated approaches based on least squares method have been proposed, simple approaches to incorporate noisy step responses are rarely available. In this research, we will compare and analyze recent approaches using the integrals of the step responses and develop an improved identification method to incorporate real situations more effectively.