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🚀 Add PID controller 🎉 (backport #434, #975, #899, #1084, #951) #83

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🚀 Add PID controller 🎉 (backport #434, #975, #899, #1084, #951)

🚀 Add PID controller 🎉 (backport #434, #975, #899, #1084, #951) #83

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