3. Tune the Servo

At this point, you need to make a decision about what tuning method you will use. There are pros and cons to each method. There is no reason why you can't try several and see what works best for you. If you need help determining which tuning method is best suited for your system, see the Comparison Table.

PID Tuning Methods

PID Tuning - Step Behavior - Overshoot Criteria
PID Tuning - Step Behavior - Stability Criteria
PID Tuning - Under Damped / Over Damped

See Also: PID Parameter Definitions

PIV Tuning Methods

PIV Tuning - Tuning the Velocity Loop
                          - Smoothing the Actual Velocity (Kpv)
                          - Applying the Velocity Loop Integral (Kiv)
                          - Applying the Position Loop Gain (Kpp)

Frequency Shaping

Frequency Shaping -

Feedforward Tuning

Feedforward Tuning - Shape-based
                                      - Acceleration Pattern (Kaff)
                                      - Velocity Pattern (Kvff)
                                      - Offset (Friction) Pattern (Kfff)
                                      - Final Adjustments
Feedforward Tuning - Measurement-based