Oh yes. One of the best papers I have read lately is: "An Electronic Throttle Control Strategy Including Compensation of Friction and Limp-Home Effects" Deur, Pavkovic et al, IEEE industry apps may/june 2004 vol 40 no.3 pp821-834
These guys take the whole shebang into account. Interestingly enough they optimise the large-signal step response by omitting the setpoint from the P & D terms (something Astrom et al talk about).
Cheers Terry