This work presents an innovative design practice for determining the fixed order robust proportional-integral-derivative (PID) controller for ball and hoop system using the immune algorithm (IA). The paper demonstrates how to make use of the IA to search the optimal PID-controller gains. This approach has much better characteristics, including easy to implement, sure convergence attribute and fine computational efficacy. The optimum PID-controller tuning yields high-class solution. To support the predicted performance of the proposed IA based scheme a performance criterion i.e. cost function is also defined, and the preferred practice was more proficient and robust in getting better step response of ball and hoop system. The simulation results demonstrate that IA- based PID controller be able to compensate the effect and improve the performance of control system. Additionally, the proposed design practice overcomes the weakness of conventional practices and improvement has been accomplished in terms of time domain performance.