In video distribution services such as video streaming, the providers must satisfy the various quality demands of the users. One of the human-centric indexes used to assess video quality is the quality of experience (QoE). In video streaming, the video bitrate, video freezing time, and video bitrate switching are significant determiners of QoE. To provide high-quality video streaming services, adaptive streaming using the Moving Picture Experts Group dynamic adaptive streaming over Hypertext Transfer Protocol (MPEG-DASH) is widely utilized. One of the conventional bitrate selection methods for MPEG-DASH selects the bitrate such that the amount of buffered data in the playback buffer, i.e., the playback buffer level, can be maintained at a constant value. This method can avoid buffer overflow and video freezing based on feedback control; however, this method induces high-frequency video bitrate switching, which can degrade QoE. To overcome this issue, this paper proposes a bitrate selection method in an adaptive video steaming for MPEG-DASH to improve the QoE by minimizing the bitrate fluctuation. To this end, the proposed method does not change the bitrate if the playback buffer level is not around its upper or lower limit, corresponding to the full or empty state of the playback buffer, respectively. In particular, to avoid buffer overflow and video freezing, the proposed method selects the bitrate based on proportional-derivative (PD) control to maintain the playback buffer level at a target level, which corresponds to an upper or lower threshold of the playback buffer level. Simulations confirm that, the proposed method offers better QoE than the conventional method for users with various preferences.