Throttle actuator controller is a device used to control the amount of air inflow into the engine, besides using the mechanical linkage through the driver. Controlling the throttle plate angle is a challenging task because its accuracy depends on the driver itself. In this study, throttle actuator simulation is developed based on the actual throttle actuator controller used by Drivetrain Research Group (DRG) of Universiti Teknologi Malaysia (UTM), Skudai. One type of the controller proposed in this study is PID controller. By using Matlab SIMULINK program, a PC based of P, PD and PID controllers is applied and the performance of the controllers is analyzed in terms of overshoot and steady-state error. In order to determine the initial PID parameters, Astrom-Hagglund relay feedback and Ziegler-Nichols methods are used.