PID Controller output format (vlaues)

Hi All, I am trying to implement PID controller using matlab for robotic arm control. I want to know What PID controller output would be when given desired angle to follow and feedback is actual angle of robotic arm. Would P, I and D branches would produce angle errors independently , then how can we convert it to servo PWM signals (do we need to map these values to servo PWM linearly)?

Similarly if i have height as reference to reach and want to have servo PWM signal as PID output then how can we map PID output to angle command? Thanks