It is very difficult for the user to know whether the derivative provided is doing a good job of achieving what could be achieved with derivative action. Apparently at one time there was a perception that the velocity algorithm did not have a reset windup problem, but this is not the case. The choice between the incremental and position algorithms seems to be a choice based on many considerations which are beyond the scope of this write-up. There are options on filtering noise, such as providing a dead zone or a zone of low gain around the setpoint. There are options to be considered in special cases, such as preventing reset windup in override and cascade situations.
Provision needs to be made for manual bias.
There must be other points to make to caution the novice. I am aware of two Web sites that have information on the subject. One is a copy of John Gerry's 1987 Control Engineering article . Another is an offering by John Shaw . I understand this appendix was written by Dave Ender of Techmation.