Ask HN: Whats your favourite piece of math?
Anything goes.
Taking your system's closed loop transfer function[3], you can use the above Laplace and Z-transforms to produce the desired closed loop control algorithm to "optimally" control your system. (I put "optimally" in quotes because it is optimum for the system as defined; if your understanding / definition of your system is wrong, it will be optimally controlling for a different system and be suboptiomal for your actual system.)
[1] https://en.wikipedia.org/wiki/Laplace_transform
[2] https://en.wikipedia.org/wiki/Z-transform
[3] https://en.wikipedia.org/wiki/Control_theory#Closed-loop_tra...