In industrial control processes, control performance influences the quality of products and utilization efficiency of energy; hence, the controller is necessarily designed according to user-desired control performance. Ideal control performance requires fast response for transient state and maintaining user-specified control performance for steady state. Hence, an algorithm to tune controller parameters to match the requirements for transient state and steady state is proposed. Considering the partial learning ability of the cerebellar model articulation controller (CMAC) neural network, it is utilized as a “tuner” of controller parameters in this study, since then the controller parameters can be tuned in both transient and steady states. Moreover, the fictitious reference iterative tuning (FRIT) algorithm is combined with CMAC in order to avoid problems, which may be caused by system modeling error and by using only a set of closed-loop data, the desired controller can be calculated in an off-line manner. In addition, the controller selected is a proportional-integral-derivative (PID) controller. Finally, the effectiveness of the proposed method is numerically verified by using some simulation and experimental examples.