p s u03c9 p is obtained from 28 as that is the new pid gains k p k i and k d are obtained from the original ones as to demonstrate the practical application and tangible results possible from the method described above in the following example consider a plant that has a transfer function of and the pid control gains of k p 3 k i 1 and k d 2 now assume the plant has changed to the new gains are calculated from equation 30 as k p 3 k i 10 k d 0 2 thus rather than having to build design and tune the controller for the plant from scratch the pid designer was able to select an existing pid appropriate for the pid class and scale the pid thus frequency scaling facilitates new systems and methods for controller design that take advantage of previously designed controllers and the relationships between controllers in related applications in one example the controller is a pid controller the pid controller may have a plant frequency scale u03c9 p as a scaleable parameter in another example the method includes producing the scaled controller for example a computer component may be programmed to perform the frequency scaled controlling additionally computer executable portions of the method may be stored on a computer readable medium and or be transmitted between computer components by for example carrier waves encoding computer executable instructions in view of the exemplary systems shown and described below example methodologies that are implemented will be better appreciated with reference to the flow diagrams of fig4 and 13 while for purposes of simplicity of explanation the illustrated methodologies are shown and described as a series of blocks it is to be appreciated that the methodologies are not limited by.