The paper finds out optimum controller parameters for a fractional order PIλDμcontroller to fulfill stability condition of gain and phase margins and gain robustness condition and the phase is force to be flat at cut off frequency in the bode plot. According to above robustness conditions, the fractional order PIλDμcontrollers with five control parameters are designed for the time constant change and gain constant change system with time delay, respectively. The nonlinear optimization method can solve the controller parameters. Ｆinally, two systems with time delay were adopted to illustrate the design method and to simulation analysis. Results show that the fractional order PIλDμcontrollers have stronger robustness and stability performance than the conventional PID controller.