Digital controllers are applied to various systems owing to their precision in realizing high-order controllers. However, they must consider calculation delay; the phase lag due to this delay degrades the performance of the control system. Controllers with a fixed structure, such as PID controllers, are generally used in practice, but the influence of calculation delays on them is not obvious. For example, it is difficult to derive parameters that maximize the performance of control systems with calculation delay, making it necessary to tune the parameters of the controllers by trial and error. Therefore, this paper proposes a limited pole placement (LPP) method to calculate the parameters for controllers having fixed structures and with calculation delay. In this study, the parameters that suppress the vibration due to phase lag are derived, and the performance of the control system is maximized by analyzing the location of the determined poles. The optimal parameters for fixed controllers with delay using the LPP method are determined efficiently.