A proportional$$derivative controller $($PD controller$)$ is a control loop mechanism employing feedback widely used in industrial control systems and various other applications requiring continuously modulated control. The transfer functions function of a PD controller is normally presented as C$($s$)=$g$0+$g$1$sC$($s$)=$g$0+$g$1$s$$where the first term is a proportional term and the second term