Any PID experts ?

[de_]

In the ideal world, we would like to make use of the PID Class to move our (encoder sensored) tube lifter up and down 2 stage ladder as follows

- move to a specified height accurately and stay there (and hopefully not burn a motor out trying to hold it).

- move at a specified max speed (which may be less than the physical max speed) to that height slowing down as it approaches as opposed to a hard stop.

- be able to handle the completely different dynamics of lifting upward against gravity versus coming down with gravity (without excess speed).
Not quite certain how to avoid gravity / momentum based overshoot at the bottom leading to a major impact.

Is this possible within the current PID classes ? Any suggestions ?