This paper presents a method to design PI and PID controllers in continuous time domain through dominant pole region assignment so that the closed-loop time domain characteristics remain within the desired interval. Firstly, parametrization of the PI controllers which assign the dominant pole pair to the desired region is given. The sub-region, in which the remaining poles are located away from the dominant pole region, is then found in (K-p, K-i) parameter space by calculating the root boundaries. After that the method is extended for PID controller case by gridding the K-p parameter. Thus, all PID controllers, which perform dominant pole region assignment successfully, are given in 3D parameter space. Examples are given for two different pole regions and for both PI and PID controllers.