You are throwing around words like 'better', 'optimal', "mathematically simpler" in a way that does not give me a lot of confidence. Seems padded with weasel to the point of being unfalsifiable and vapid. Engineering is a quantitative field after all.
I did not claim PID to be optimal. It was your claim that you found ad hoc methods to be more optimal (whatever that is supposed to mean). Surely you would be able to give examples and in what quantitative way you have found them "better", or "more optimal" and in what ways you have found PID to be mathematically complex.
