This paper presents a new PID congestion controller design for transmission control protocol (TCP) networks. It would be possible to efficiently control the TCP traffic in the proposed control scheme. This would be done via the use of only the queue length at router needless to know the TCP window size which is not accessible at the routers side. The stability condition is presented by applying linear matrix inequality (LMI). The proposed approach is laid out via numerical results by ns2 software. The usability and advantage of the proposed method is shown compared with other control schemes such as PI, RED and GMV.