I didn't watch the whole video, but I notice they eventually admit Toyota did it first.
Back when I was trying to understand this, I found the Texas Instruments Youtube videos were the most helpful, but I don't remember which one specifically. If you watch these;
https://www.youtube.com/results?sear...iented+control
...and one uses an analogy of watching a target while being on or off a merry-go-round, then that's the one.
The first one is good.