A method may include: (i) based on an error between a setpoint value and a measured process value, determining an integrated error indicative of a time-based integral of the error; (ii) based on the error, determining a differential error indicative of a time-based derivative of the error; (iii) based on the integrated error and the error, generating a proportional-integral output driving signal; (iv) based on the differential error and the error, generating a proportional-differential output driving signal; (v) determining whether the differential error is stable; (vi) responsive to determining that the differential error is stable, generating a driving signal for controlling a plant based on the proportional-differential output driving signal and independent of the proportional-integral output driving signal; (vii) responsive to determining that the differential error is unstable, generating the driving signal for controlling the plant based on the proportional-differential output driving signal and the pro
