# An intrinsic PID controller for mechanical systems on Lie groups

> Research article (Automatica, 2015) · cited 67× · AI/ML

**Wikidata**: [openalex:W2020741898](https://www.wikidata.org/wiki/openalex:W2020741898)  
**Source**: https://4ort.xyz/entity/an-intrinsic-pid-controller-for-mechanical-systems-on-lie-groups