Three-ring servo control

We all know the three-ring, in which the current ring is regulated by the driver itself, we need to do the work is to adjust the outside speed ring and position ring, which is the classic PID control
When we carry out positioning control, the speed curve and displacement curve will be planned in advance, and then the PLC is sent to the servo driver after calculation, the driver controls the motor to move according to the planned curve
This is a bit of a contradiction ah, supposedly better PID control regulation, system output tracking system input there is always a period of time to delay to stabilize, such as step input, system output can not immediately reach, there will always be a certain amount of time to stable tracking
The question comes, the time velocity curve, displacement curve and servo driver control motor of the positioning control configuration in PLC can be completely tracked and replicated? For example, in my PLC, I plan a fixed length value of the speed curve with acceleration and then uniform speed and finally deceleration. Can the servo drive control motor completely follow the planned curve? If so, wouldn't that go against the PID principle? pID doesn't teach us the ability for output to immediately track input