The fixed parameters in traditional Proportional Integral Derivative (PID) controller that is proposed by Ziegler-Nichols and other researchers lead to poor performance for transient response or steady state response and it has bad value of performance indices. On the other hand, analysis and design of the nonlinear PID controller is very complicated and difficult in practice. In this paper, a dynamic PID controller that changes parameters over time according to the error response is proposed. Synthesis and analysis of the proposed PID controller is realized easily and the system shows good performance measurement from the simulations.