A tuning method of multiloop PID controllers is developed based on the generalized IMC PID tuning rule by Lee et al. (1998a). To extend the SISO PID tuning method to MIMO systems, a new tuning criterion is proposed. The criterion is based on the closed loop frequency response method to meet desired performance and robustness as close as possible. Examples for 2×2, 3×3 and 4×4 systems are used to illustrate the proposed method. The results show that the proposed method is superior to conventional methods such as the BLT tuning method.