Southpark:
Also consider what happens if somebody decides to sample the jumpy minute hand around the discontinuity.... and the sampling clock has some timing uncertainty. Sometimes samples before the jump... and sometimes after the jump. We don't necessarily need to sample at that particular spot of course.... just a consideration.
It's exactly that sort of practical issue that makes me think the "science" of PID is over-hyped. It's a great practical suck-it-and-see system. But I remain to be convinced that it is science in the sense the force = mass * acceleration is science.
...R