A refined relay feedback identification autotuning PID is proposed in this paper which is capable of controlling long time-delay processes. The process is approximated via FOPDT or SOPDT models, whose parameters are determined through a modified relay feedback identification method. Employing zero-pole cancellation principle, the PID is tuned by the specified amplitude and phase margins, which can guarantee fast response and strong robustness to the closed loop system. Model identification and controller parameter tuning are done on-line without much influence on the normal operation. In addition, this algorithm also has good disturbance rejection capability.