Such simple extensions to PI-based control are generally quick and easy to tune manually with the help of a suitable simulation model. The process is not mathematically rigorous, but simple, effective, and highly practical to implement, and given that the IPC pitch travel issue has been known for years it is very likely that something like this is already implemented somewhere. It is also very likely that it has not been reported in the literature, because the methodology is not particularly interesting academically, and because an engineer implementing something like this has little incentive to publish it and might not even think of doing so. There must be a huge number of similar examples. However, I do not mean to say that researchers should not publish papers like this one, because it is important to explore new frontiers and showcase possibilities to the industry. Somewhere in the middle, academics developing new solutions looking for applications will meet practical engineers searching for better ways to solve their problems, and progress will ensue. A full appreciation of the possibilities and limitations of existing methods is important for identifying suitable applications for new advanced methods.