A graphical control system design approach is proposed in this Letter considering time delay margin and time-integral performance criterion. For two free design parameters, time delay margin boundaries are plotted into 2D parameter plane by using parameter space approach. The details of obtaining design equations are introduced. A time-integral error criterion is calculated for gridded design parameters and shown on the same plot to obtain contour curve representation of the error values. An application example is selected from automotive control literature to test the effectiveness of the proposed approach with simulations. Simulation results are obtained for different benchmark controllers and compared with each other in terms of time domain step response characteristics and error values.