In my German courses on electrical drives, they taught us that the
Betragsoptimum method for tuning a control loop, where the controlled system has one "dominant" time constant (higher or larger than all others), which is compensated/cancelled directly by the controller.
Though difficult to find on the Google WORLDWIDE-INTERNET-WEB
®, this seems to be called
modulus optimum (or, perhaps also "absolute value optimum").
English Sources:
Bajracharya, Molinas, Suul, Undeland, "Understanding of tuning techniques of converter controllers for VSC-HVDC", NORPIE 2008
(https://aaltodoc.aalto.fi/bitstream/handle/123456789/814/urn011658.pdf)
http://www.eal.ei.tum.de/fileadmin/tueieal/www/courses/bdgea/lecture/WS1112/Regelungsskript_eng.pdf
German Sources:
http://daten.schule.at/dl/Betragsoptimum.pdf
https://www.eal.ei.tum.de/fileadmin/tueieal/www/courses/bdgea/lecture/WS1112/Regelungsskript_deutsch.pdf