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上位で「どこへ、どう動くか」を決め、下位のPIDが「その指令を物理的に成立させる」。という役割分担に近い。AIや経路計画が目標を作っても、最後にモータ、油圧、温度、圧力を実際に収束させるのは、今でもPIやPIDであることが多い。派手なのは上位層。でも物理を成立させているのは、地味なフィードバック制御。
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