A simple fractional-order PID controller design method based on the ideal Bode transfer function is proposed in this paper. Model matching and identification are introduced, such that the design problem of the fractional-order PID controller, with five variables involved, is transformed into a simple one dimensional search problem. A short-memory method is used for the implementation of the fractional-order PID controller. The proposed design method is applied to the speed tuning of a DC motor with good performance and robustness. Experimental results are provided to illustrate the effectiveness and availability of the proposed method.