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I'm not necessarily disagreeing, but where did you get this information?
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From the TI 2012 FAQ on the jags Question 41 addresses it. The file name is spma033a.pdf.
I used to tune flow & pressure control loops. Admittedly the transfer function for a position or velocity loop might look different. I generally found the process measurement value to be noisy enough to make the derivative term useless. Obviously others have found it useful since it is a lot easier to find PID controllers rather than PI controllers.