Based on analysis of the limitations of now-used PID control tuning methods, a method for consolidated optimizing and quantitative setting under multi-index constraint was proved and established. The method to select and determine the optimum values of PID parameters by Matlab simulation was given, and its practical scheme was introduced: the method for estimating initial values of PID parameters from the unit-step response curve of an initial system, the method for constituting dynamic performance criteria, the scheme for selecting the optimum values of PID parameters, the flow chart of simulating soft, etc. Finally, representative multiple examples are given. The results indicated that this method can quickly accomplish the optimal design for PID control systems, and needn’t both utilize experiential data about PID parameters and calculate (or tune) the critical oscillation gain and period of a P controller.