While P- and I-parts of controllers are relatively "unidirectional" to tune, the D-part is not. Without a reliable model for your plant, a D-part in the controller is likely to do more harm than good. Do you have a reliable transfer function of your "plant"? Or in other words, what do you mean by "theoretically the best option"?

P controller provide rapid initial response to drive system. I controller provide to system outputs to go reference input, without I controller system output can not equal reference input, D controller provide to maintain system reference value against sharp disturbance. Without I controller your system may not go reference input.

Norman Urs Baier as i said my application is rotary flying shears in material processing lines. And i was doing comparsion of speed drop during cut with use of P, PI and PD speed control. Simulations were done in matlab and when i looked into for example Siemens manuals for rotary shears, they are using PI speed control not PD so i was curious why