本文探讨了PID控制器的特性，包括稳定性贡献、跟踪与抗扰能力，以及响应速度。深入分析了P、I、D各部分的功能及其潜在问题，如振荡与噪声敏感性。指出PID作为最常用的低级控制器，其稳定性并非绝对保证，但反馈机制能有效抵抗模型参数不确定性。
P: Contributes to stability, medium-rate responsiveness;
I: Tracking and disturbance rejection, slow rate responsiveness. May cause oscillations;
D: Fast-rate responsiveness. Sensitive to noise.
PID: By far the most used low-level controller.
Note:Stability is not guaranteed.
Feedback has a remarkable ability to fight uncertainty in model parameters!
From: GRITS Laboratory at the Georgia Institute of Technology Sim.I.am
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