For a robotic BLDC motor velocity control application, I moved to using a linear ADRC (Active Disturbance Rejection Control) [0] controller. It is not much more complex to implement that a PID, but at least in my context it handles changing real-world environmental conditions with a correctness which I could not achieve with a PID however much I tried to tune it.

Still uses a PID for BLDC motor coil current control, as this control loop is much more predictable.

Currently using the proportional part only from a PID for position control, but this may change in the future.

[0] https://en.wikipedia.org/wiki/Active_disturbance_rejection_c... (although this isn't a very useful reference if you want the implementation maths!)