FIR filters are the last thing you want in closed loop -- for the amount of filtering they do, they have way excessive phase delay. I'd use a derivative term w

FIR filters are the last thing you want in closed loop -- for the amount of filtering they do, they have way excessive phase delay. I'd use a derivative term with bandlimiting, and I'd accept that if I couldn't get the response I needed using feedback in that case then I'd either investigate using feedforward, or I'd work on changing the sensors on the plant so that they're less noisy.