This paper presents a new approach to the problem of designing a cascaded three-parameters controller for a given linear time invariant (LTI) plant in unity feedback system. We consider a proportional-integral-derivative (PID) and a first-order controller with the specified overshoot and settling time. This problem is difficult to solve because there may be no analytical solution due to the use of low-order controller. Furthermore, the zeros of controller just appear in the zeros of feedback system. The key idea of our method is to impose a constraint on the controller parameters so that the zeros of resulting controller are distant from the dominant pole of closed-loop system to the left as far as the given interval. Two methods realizing the idea are suggested. We have employed the characteristic ratio assignment (CRA) in order to deal with the time response specifications. It is noted that the proposed methods are accomplished only in parameter space. Several illustrative examples are given.