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The main objective of this work is to showcase how a Nonlinear Proportional plus Integral plus Derivative (NPID) controller can be utilized to analyze the output of a highly coupled multi-input multi-output (MIMO) nonlinear system called the Three-Link Robotic Manipulator System for setpoint monitoring or trajectory tracking performance. In general, the three-link planar robots are employed in the production sector and are exposed to a variety of disturbances, such as heavy equipment movements, manipulator’s arm variations, a loud industrial climate, and so on. In order to cater for these limitations, A proposed NPID controller is incorporated into the three-link revolute joint robotic manipulator system and its gain parameters are tuned using the GA (Genetic Algorithm) to minimize the weighted sum of the integral of absolute error (IAE) signal. Based on this chosen objective function, the proposed NPID controller is …