The internal model control (IMC)-based PID controller is widely used in industrial control problems. This scheme provides a good compromise among set-point tracking, disturbance attenuation, and robustness. Therefore, in this paper, we propose a simple technique to design IMC-PID controller. To illustrate the utility of the proposed technique, different types of linear and nonlinear second-order systems and approximated second-order models of higher-order systems are simulated. The proposed approach depicts quick response to set-point change, good disturbance attenuation, and optimal performances in most of the class of problems when compared to the conventional IMC-PID and other existing popular techniques. The beauty of this paper is that there is no need of highly complex mathematical approaches, and using only simple conventional IMC approach, the improved servo and regulatory results can be achieved.