Yup you can even make PI^mD^n controllers... the challenge comes in the linearization.... recently we struggled with the backlash in a gearbox... with a lon

Yup you can even make PI^mD^n controllers... the challenge comes in the linearization.... recently we struggled with the backlash in a gearbox... with a long chain of small backlashes... we estimated the state of every pair... treated as an inertial system with no K and a short travel until the next moment locked in after e.g. .1 to 2 degrees. The higher level system (surgery robot) also had a closed loop so we didnt have to be perfect, but cleaning up gave higher bandwidth.