The physical meaning of the derivative and the acceleration term of the proportional-integral-derivativeacceleration (PIDA) controller was analyzed, and a new non-interactive form of the PIDA controller is proposed. Also, a new tuning rule for the PIDA controller was developed by combining the physical meaning of the two derivative terms with the previous integral of the time-weighted absolute value of the error (ITAE) tuning rule for the PID controller. The proposed tuning rule, composed of simple explicit algebraic equations, provides excellent performance for various processes without using any optimization methods and iterative computation.