Aimed at linear time-invariant system, a performance-oriented controller parameters tuning method is proposed based on Guardian Maps stability theory. First, the expected dynamic properties and stability margin of closed loop system are transformed into a problem of regime matrix eigenvalue assignment, and then the Guardian function is computed to determine all the controller parameters under condition of the plant parameters known. Simultaneously, the controller parameters are fixed, and the allowable range of system parameters can also be obtained. The method with strong universality can be used for PID, state feedback as well as adaptive controller parameters tuning, etc. Simulation results show that this proposed method is effective.