This paper proposes the closed-form formulas used for finding the controllers' parameters for both continuous-time and discrete-time PIDA (Proportional-Integral-Derivative-Acceleration) controllers. The derivations to formulate the formula are given in vector-matrix forms. The examples of usage the closed-form formulas for a third order plant are illustrated. Comparing with other previous research work, revealed that at the same performances, the using it is straightforward, simpler without iterative computation and also be opened to use too.
