controller scaling and parameterization are described . techniques that can be improved by employing the scaling and parameterization include , but are not limited to , controller design , tuning and optimization . the scaling and parameterization methods described here apply to transfer function based controllers , including pid controllers . the parameterization methods also applies to state feedback and state observer based controllers , as well as linear active disturbance rejection controllers . it is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application . it is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims .