PID Controllers, Part VIII:  Three Term PID Controller, 28/11/2013
Channel: Lutfi Al-Sharif
Date: 11/12/2013

(*Simulink model link below*)  This last video on PID controllers, it shows a controller with all three terms.  It uses the D term to reduce the overshoot (but also note that such a reduction in the overshoot increases the rise time).
Simulink Model File Link:  http://www2.ju.edu.jo/sites/Academic/l.sharif/Material/Automatic%20Control%20Systems/08%20PID%20Controllers/P_I_D.zip