QFT(Quantitative Feedback Theory) is a very practical design technique that emphasizes the use of feedback for achieving the desired system performance tolerances in despite of plant uncertainties and disturbances. The loop shaping procedure of the QFT method is employed to design the robust controller, until the desired bounds are satisfied. This paper presents a method to estimate the Pm parameters using the loop shaping of the QFT. The proposed method identifies the parameter vector of PID controller from a linear system that develops from rearranging the two dimensional input matrices and output vectors obtained from the QFT bounds. The feasibilities of the suggested algorithm are illustrated with an example.