This paper proposes a new simple and efficient model-based time domain P, PI ,PD , and PID controllers design methods for achieving an important design compromise; acceptable stability, and medium fastness of response, the proposed method is based on selecting controllers' gains based on plant's parameters, a simple expressions are proposed for calculating and soft tuning controller's gain, the proposed controllers design methods were tested for first, second and first order system with time delay, and using MATLAB/simulink software. Keywords: Controller, controller design
