This looks like they simply reinvented PID control. The inputs to the beyond are desired states minus actual states, which is basically how PID works.

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gpvos 2 hours ago | parent | next [-]

I assume you mean proportional–integral–derivative control. https://en.wikipedia.org/wiki/PID_controller

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KolibriFly 4 hours ago | parent | prev | next [-]

The useful insight is not "compare desired state to actual state"; it's deciding which state to control

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dchristian 2 hours ago | parent | prev [-]

No, the bicycle is unstable. PID doesn't work well there.

In addition, it is controlling a coupled 3D system (which is unstable). This is much more than 3 PID controllers.

	▲	literalAardvark 7 minutes ago \| parent \| next [-]
		Bicycles are stable. In fact you need zero neurons to run a bicycle, all it needs is "power" and a large enough circle to run in.
	▲	taneq 2 hours ago \| parent \| prev [-]
		PID works fine if you parametrise it right, which is what this paper does. Consider the variety of inverted pendulums etc. that are used as as examples to teach PID control.