PID controller has been widely used in many different areas such as power systems, drives control, automotive mechatronics, aerospace, process control, and robotics. Recently, FPGA (field programmable gate array) has become an alternative solution for the realization of digital control algorithm systems. In this paper FPGA-based incremental PID (Proportional, Integral, Derivative) controller is designed and simulated. After the analysis of PID control algorithm, VerilogHDL language is used to design the software programs. Simulation results show the effectiveness and feasibility of the proposed method.