This dissertation mainly deals with the problem of Satisfactory control for PID control design that develops one synthesis design method with constraints of multi-performance indices. In practical control system design, lots of practical problems demand not optimal controlbut satisfactory control in which all desired performance indices are met in a admitted range and not necessary to achieve optimal value. Satisfactory control takes multiple desired performance indices as objective function and also makes these indices be met at the same time and the control strategy demands explicit meaning to ensure the practical value in the engineering system which is convenience for engineering technician.With duplicate production, different control system design usually has similar runtime controller structure; hence its structure is not necessary to be altered but its parameters. Obviously PID regulators dominate in the controllers for its simpleness and practicability. This dissertation presents the background and main results in the introduction, then the current research situation has been reviewed in which it proves theoretic foundation of PID control.Frequency method and root locus method are commonly widely used to study PID design problems in terms of polynomial, while state space method is introduced to discuss design in modern control theory and satisfactory control. With Lyapunov stability theory, PID control design for a class of stochastic systems is set up based on LMI method which makes circular pole index, steady variance index, H-infinity index be meet simultaneously.In chapter 2,3, by augment integrator, PI regulator design method with constraints of multiple performance indices is presented for a class of state feedback systems. For two-order plant, choose appropriate state variable, the corresponding PID parameters can be obtained. In virtue of the method mentioned above, robust PID control of circumvolution cartridge depository system and position control.of auto-load cartridge system are well designed for continuous time system and characteristic model PDD control is proposed for discrete time system.For high order plant, the integration and difference of output are synthesized to build up the relation between PID parameters and static output feedback control parameters in chapter 4,5. By calculating output feedback value, the parameters of PID