I. Introduction
Having its origins in the 19020’s, the Proportional-Integral-Derivative (PID) controller is well-known as a feedback loop mechanism aiming at the stability of systems against disturbances. The ubiquitous use of PID is mainly attributed to its reliance on the response of the system, encoded by the three-term error components. As such, the performance of PID is independent of the inherent knowledge and the dynamics of the system, becoming attractive for nonlinear real-world systems in general.