It’s actually a pretty common practice in the industry and academic. You can change your system block diagram to have the measured value as some sort of rate of

It’s actually a pretty common practice in the industry and academic. You can change your system block diagram to have the measured value as some sort of rate of change rather than the value itself (this is a non trivial exercise). In return, your system is more stable and you can get rid of the D constant since it’s another value you need to tune and sometimes causes instability in a control sense. It’s a pretty popular technique in high safety applications like aerospace.