PID on servo motor with MPU6050 sensor


I'm still new to PID
I made stabilizer for spoon following this guide:

I want to add PID on this project. The problem is my MPU6050 sensor is on the spoon's handle, so i can't feedback the position of the spoon's bowl. Is it still possible to add PID with my MPU6050 sensor on the spoon's handle? If yes, what is my setpoint, input, and output?

Uh... A hobby servo already does PID (or something like it). You feed it a setpoint and it gets input from the feedback resistor. The output controls power to the motor.

Isn't the bowl in a fixed orientation relative to the handle?

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