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Several new results have been stated and proved in a mathematically rigorous way, based on the Lyapunov function approach combined with the singular perturbation approach. These results are the following:   1. In the point-to-point control of rigid manipulators a PID controller with gravity compensation stabilizes the closed loop system asymptotically. Controller gains estimates have been established for which an exponential stability is achieved. Also, the global asymptotic stability of a rigid manipulator equipped with a PID controller with saturated integral part is proved.   2. In the case of trajectory tracking in rigid manipulators a PID controller provides an ultimately uniformly bounded tracking error.   3. 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