1. A method for implementing PID control having a proportional term, an integral term, and a derivative term, the method comprising: receiving a controlled variable measurement and calculating an error between the controlled variable measurement and a desired condition; defining at least two distinct regions of operation based at least in part on the error, wherein each region has a predetermined gain set; and based on the error, (i) determining a region of operation from the at least two distinct regions, (ii) calculating a PID output using a gain set associated with that region, and (iii) after the expiration of a time increment, re-measuring the controlled variable, re-calculating the error and repeating steps (i)-(iii).