User Manual Appendix D
GFK-1742F Jan 2020
Tuning Digital and Analog Servo Systems 444
The response above indicates that the Velocity Loop Integral Gain has resulted in a more
desirable response. Specifically, the steady state error is being reduced.
Figure 211: Velocity Loop Step Response Velocity Feedback vs. Time Kp=4000 Ki=60
VLGN = 0
When you increase the Velocity Loop Integral Gain further, you can see the beginning of an
overshoot due to the integral gain. However, the responses in the previous two figures are
both acceptable. The final values chosen to depend on the capabilities of the driven load. In
general, the lower the Velocity Loop Proportional Gain and Velocity Loop Integral Gain that
meet the system requirements the more robust the control.
Figure 212: Velocity Loop Step Response Velocity Feedback vs. Time Kp=4000 Ki=120
VLGN = 0
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