$1.$ You want to use a PID controller for a self$-$driving vehicle's speed control. But the speed data is very noisy, and the application is such that you cannot use a filter to lessen the effect of the noise on the data. Should you use a non$-$zero D$-$gain in your PID controller? Answer yes or no$,$ with appropriate reasoning.

$2.$The IOSFL controller allows explicit control of an autonomous vehicle's heading angle? Answer yes or no$,$ with appropriate reasoning.