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The present work focuses on the design of PID controller for stable/unstable Second Order Systems Plus Dead Time (SOPDT) systems with/without zero. The methods proposed based on Internal Model Control (IMC) are IMC-MAC PID and IMC-PIDC. The PID controller settings namely controller gain, integral time and derivative time are tuned by employing the guidelines for the tuning parameter instead of random value. Simulink module of MATLAB is utilized to obtain the closed loop behavior. The proposed controller is validated for non linear systems. Performance of the controllers designed by proposed methods is evaluated based on IAE, ISE & ITAE and compared with literature reported methods. Maximum sensitivity (Ms) is evaluated as a measure of robustness. Again the stability region for all the model parameters is evaluated considering uncertainties in model parameters using Kharitonov's Theorem and compared with literature.