Inertial Sensors for PIDs

I want to implement a PID into my robot and I have an interia sensor. I’ve heard that an inertia sensor can help with PIDs but I don’t know how. How does it help?

You can use the inertial sensor to find the robots current angle. By subtracting the current value from the desired value, the robot obtains a difference, or deviation (error). The PID can use this error to generate corrective commands to drive the robot from the current orientation to the desired orientation.

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I use a pid for driving and have the turning on the inertial sensor. But obviously you could incorporate your inertial into the pid, or only use a pid for turning.