Abstract: On the basis of the known transfer function of the controlled object, aiming at the problem of the PID parameters tuning when teaching, a simple PID parameters tuning method is proposed in the paper using the Rltool built-in Matlab based on the basic knowledge of the Theory of Automatic Control.This method is easy to tune parameters and master in practice.Furthermore, it is useful for students to deeply comprehend the analysis and design the control system adopting time-domain, root locus and frequency-domain methods.