If you take them, take them very early. Sixteen is probably alright, but any younger and a lot of the humor will be over his head. Younger than 10 should just skip PI all together.
Remember, it's a bar, so it's an adult area. And there are going to be grumblings regardless of how old your kids are. Some people go to PI in order to release the stress of being around thousands of other people's children all day long and don't appreciate seeing young ones at an adult area. And at PI, if you bring kids in, YOU WILL hear things from other adults, and you don't really have much recourse.
Leave the kids in the room, take the spouse and have a blast, AC is great, we never miss it.
KUNGALOOSH