My understanding is PIDs are vastly preferred in situations where very often real world measurements have a degree of error in them. Like having the wheels of y

My understanding is PIDs are vastly preferred in situations where very often real world measurements have a degree of error in them. Like having the wheels of your car slip extra distance when you put your foot on the paddle for a specific amount of time. It's a feedback system of sorts. If there's no error in measurements, sure, a mix of IK and blending seems to be a lot easier to implement.