This work presents a set of proportional-integral (PI) and proportional-derivative (PD) tuning formulae for some typical low-order processes, based on specifications involving gain/phase margins or gain margin and maximum closed-loop magnitude. The nonlinear equations of the gain/phase margins and the maximum closed-loop magnitude for some low-order processes equipped with PI/PD controllers are simplified into linear approximations, and analytical tuning settings can then be derived from any two of the simplified relations. Two numerical examples are used, demonstrating the effectiveness of the novel tuning formulae.