In this paper we study a method for designing a PID controller which can assign pole and zero locations of multi-input systems. The basic idea of our synthesis is to draw a PID control law from the state-space method which can assign pole-zero locations. We propose a state feedback control law in a part of input channels to solve the zero assignment problem. This loop is so designed as to preserve the controllability of the closed loop system. With the help of the controllability, we can deal with the pole assignment problem by means of another state feedback control law in the remaining input channels. Numerical example illustrates the effectiveness of the results.