A novel controller, the proportional-integral-derivative funnel, is introduced in this paper, which combines the funnel controller with a Proportional-Integral-Derivative (PID) controller. The PID-funnel controller is designed to achieve two key objectives: ensuring that the tracking error is maintained within a specified performance funnel and enhancing steady-state accuracy through the integration of the PID controller. The effectiveness of this new controller is demonstrated through simulations of a mechanical system with a higher relative degree, such as a mass-spring system mounted on a car. A comparative analysis with other control strategies is conducted, validating the superior performance and efficiency of the proposed PID-funnel control.