A new set of model-based tuning relations for PI and PID controllers is developed in this contribution These expressions relate the controller proportional gain, integral time and derivative time to the parameters of a second or first order plus time delay model of the plant. A simulation study is conducted to illustrate the benefits of the new method. A comparison with two existing popular controller tuning techniques has shown that, generally, the proposed method leads to a better closed loop performance. One major advantage of the new method is that, irrespective of the values of the plant parameters, it leads to almost a standard closed-loop response to a step change in the setpoint. This response is an underdamped trajectory with an overshoot in the vicinity of 5%.