The invention relates to a robustness two-freedom-degree PID control method of an industrial unstable time delay object. On the basis of identification of an object model by an industrial control system, an adjustable parameter lambda value is determined according to a provided empirical formula and calculation is carried out based on object model parameters and the adjustable parameter value to obtain parameters of a set value filter and a PID controller, thereby obtaining an output signal of a controller. Compared with the prior art, the provided method has the following advantages: selection of the lambda based on the empirical formula takes the influence on the system robustness by the relative time delay change into consideration and the set value filtering is added, so that the set value tracking performance of the system is improved obviously; and the method can be applied to production process controlling of the energy, petrochemical engineering, metallurgy, light industry, textile and medicine and the like.