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A PID controller takes an error as input (the encoder ticks) and yields an output whose unit of measurement $O$ (the PWM percentage, usually) is uncorrelated with the unit of measurement $I$ of the input. To this end, the PID gains $K_P$, $K_I$, and $K_D$ do have units of measurement: $[K_P] = \frac{O}{I}$ $[K_I] = \frac{O}{I \cdot s}$ $[K_D] = \frac{O \...


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