PID Control in Robotics

This lecture covers the role of Proportional (P), Derivative (D), and Integral (I) parameters in control systems. It explains how these parameters affect the control torque, system stability, and response time. The lecture also discusses the effects of different gains on control saturation, system oscillations, and closed-loop stability. Additionally, it addresses the importance of tuning PID parameters, cascaded controllers, and compensating for non-linearities in dynamic systems. The instructor emphasizes the significance of understanding the theoretical model and physical system to achieve accurate control of motor position in robotics applications.