This paper summarizes a new method for the auto-tuning of PID controllers, and extends it to take into account all the information that the process identification can give. The identification is based on two characteristic points of open-loop frequency response: the ultimate and the crossover frequencies. A 4-parameter model can be obtained and used for controller design based on the ITAE index. The main contribution is that this method makes use of all the information provided by the identification step, suppresses the need for a separation between integrating and non-integrating processes, an can address a wider set of plants.