Good ideas in principle but I'm reminded of my experience tuning PID controllers for servo motors: too much P and you have wild, out-of-control oscillations, to

Good ideas in principle but I'm reminded of my experience tuning PID controllers for servo motors: too much P and you have wild, out-of-control oscillations, too much D and you never get to your target. The I value has to be carefully chosen to make sure misrepresentations are gradually amplified to break through the collective perception threshold. As stated I think there's not enough damping in hyperarchy.