The analysis and synthesis of control systems for complex dynamic processes are challenging tasks. The PID controller is the most common controller widely used in industrial processes. However PID tuning is heuristic and approximate and don’t guarantee optimal control. A novel control approach, polynomial dynamic control (PDC), is described in this paper. PDC integrates dynamic linear process analysis, system identification and controller design into one algorithm. An optimal trajectory from one setpoint to another is guaranteed regardless of the plant characteristics. The performance of the polynomial dynamic controller is investigated for both setpoint tracking and disturbance rejection by comparing it with a well tuned PID controller.