In this paper, we present a new design method for cascade control systems. The proposed (open-loop) identification procedure allows to perform a one stage tuning of the PID controllers, whose parameters are selected in order to ensure a good load disturbance rejection performance. Then, the model of the overall control system is reduced in order to apply the closed-form solution of an analytical stable inversion procedure as a command function. Thus, a high (predefined) performance is achieved also in the set-point following task. Simulation results show the effectiveness of the methodology