A PID that can handle 2 inputs for my application
If you require two outputs, which belong to a movement in x and the other in y direction, you could start with the assumption, that both movements are independent an simply implement two PID controller, each caring for one direction.

It gets interesting at the point where you translate the output of these two controller to signals to the actuators. Here it may be wrong to assume that both movements are independent. If you give more insight on that, we can give better ideas for control algorithms

(more a comment then an answer, but I cant comment)