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Such characterization uses linear programming which is computationally efficient. The characteristic parameters of the controller are first extracted from the frequency response data. Subsequently, by employing an extended Hermite-Biehler theorem on quasipolynomials, the stabilizing polygon region with respect to the integral and derivative gains (\\(k_i\\) and \\(k_d\\)) is described for a given proportional gain \\((k_p)\\) in term of the frequency response data. Simultaneously, the allowable stabilizing range of \\(k_p\\) is derived such that the complete stabilizing set of the PID controller can be obtained easily. The proposed method avoids the complexity and inaccuracy of the model identification and thus provides a convenient approach for the design and tuning of the PID controller in practice. 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