Direct synthesis method based PID controller was proposed for the second order plus dead time stable process having a zero in the numerator. The desired closed loop transfer function was considered as a second order time delay model and the Maclaurin series expansion technique was used to convert the obtained controller into the ideal form of the PID controller. The tuning parameter α was selected in such a way that gives the robustness level i.e. maximum sensitivity Ms value in the range of 1.2-1.8 which was the same as other recent tuning methods. The proposed method was applied to six different first and second order time delay process. The closed-loop performance in term of various performance indices such as settling time (ts), rise time (tr), Overshoot (%OS), and the time integral error indices such as IAE, ISE, and ITAE was compared to other similar design approaches. The comparative results show that the proposed method was superior to other methods.