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