Yea, I built a ball beam balancing device that torqued the beam using electromagnets (instead of the standard 2nd order system with a motor in the center and fast response). The electromagnets can not 'instantly' change the angle of the beams, and the ball's dynamics lead to overall instability as it rolls around and accelerates faster than the system can respond.. Without a derivative term it would have been impossible to control the system. That being said, the project was deliberately contrived in a way where the effects of the P,I,D terms were observable.