I have written a simple Arduino C program using P.I.D. (proportional, integral, differential) algorithms to control two T100’s to maintain a set compass (LM303 sensor) heading. P.I.D. is a proven method for maintaining a setpoint in a closed-loop system. What I am concerned about is how the potentially large amount of angular/rotational inertia in an ROV will change the effectiveness of P.I.D. as a control method. I can see “overshoot” as a significant problem. If you have experience in this area I would appreciate hearing about it.