diff --git a/lib/ControlSystemsBase/src/pid_design.jl b/lib/ControlSystemsBase/src/pid_design.jl
index 81c0bbd52..6e75ab45b 100644
--- a/lib/ControlSystemsBase/src/pid_design.jl
+++ b/lib/ControlSystemsBase/src/pid_design.jl
@@ -68,7 +68,7 @@ function pid_tf(param_p, param_i, param_d=zero(typeof(param_p)); form=:standard,
     else
         if Ki == 0
             if filter_order == 1
-                tf([Kd*Tf + Kd, Kd], [Tf, 1])
+                return tf([Kd + Kp*Tf, Kp], [Tf, 1])
             else
                 return tf([Kd, Kp], [Tf^2/(4d^2), Tf, 1])
             end
diff --git a/lib/ControlSystemsBase/test/test_pid_design.jl b/lib/ControlSystemsBase/test/test_pid_design.jl
index 4bab4aeea..0e30c5438 100644
--- a/lib/ControlSystemsBase/test/test_pid_design.jl
+++ b/lib/ControlSystemsBase/test/test_pid_design.jl
@@ -77,6 +77,13 @@ Ctf = pid(1.1, 1.2, 0, Tf=0.1, filter_order=1)
 Css = pid(1.1, 1.2, 0, Tf=0.1, filter_order=1, state_space=true)
 @test freqresptest(Ctf, Css) < 1e-10
 
+# Regression for #1058: pid_tf for Ki=0 and filter_order=1 used to emit
+# tf([Kd*Tf + Kd, Kd], [Tf, 1]) — Kp dropped and replaced with Kd.
+Ctf = pid(1.1, 0, 1.5, Tf=0.1, filter_order=1, form=:parallel)
+Css = pid(1.1, 0, 1.5, Tf=0.1, filter_order=1, form=:parallel, state_space=true)
+@test freqresptest(Ctf, Css) < 1e-10
+@test Ctf ≈ tf([1.5 + 1.1*0.1, 1.1], [0.1, 1])
+
 # bodeplot([Ctf, Css])