diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index 6dc0034..e9d0e5b 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -110,7 +110,7 @@ class Control:
     """
 
     def limits(self, speed, acceleration, torque):
-        """Configures the maximum speed, acceleration, duty, and torque.
+        """Configures the maximum speed, acceleration, and torque.
 
         If no arguments are given, this will return the current values.
 
diff --git a/src/pybricks/_common.pyi b/src/pybricks/_common.pyi
index 3479f3f..5c4ab78 100644
--- a/src/pybricks/_common.pyi
+++ b/src/pybricks/_common.pyi
@@ -23,15 +23,16 @@ class Control:
         self,
         speed: Optional[int] = None,
         acceleration: Optional[int] = None,
-        actuation: Optional[int] = None,
+        torque: Optional[int] = None,
     ) -> None: ...
-    def pid(self) -> Tuple[int, int, int, int, int, int]: ...
+    def pid(self) -> Tuple[int, int, int, None, int]: ...
     @overload
     def pid(
         self,
         kp: Optional[int] = None,
         ki: Optional[int] = None,
         kd: Optional[int] = None,
+        reserved: Optional[int] = None,
         integral_rate: Optional[int] = None,
     ) -> None: ...
     @overload