Thanks CodingBadly,
So I guess one way I could do this is the following.
- For normal operation, use the standard PID controller to control my direction of aim and just adjust the parameters based on elevation (every 10K ft or so)
- As i monitor my spin rate, if I ever detect that my spin rate is greater than "X", then put controller in manual mode, take over control of the fins and brake the spin until its less than X. Then re-enable the PID controller.
I was hoping to "mix" the speed and direction into a single equation to give a magical answer, but as was pointed out, a PID controller of this type is first order control only. My controls theory classes were long ago and my differential equations classes are a distant memory. Plus the 80 hour debug weeks are leaving my desire to debug even more stuff at home less interesting 
Ken