Parker Hannifin 88-021610-01G Step 9 , Step 10 , Step 11

Parker Hannifin
Chapter 5 Tuning 89
Step 9
After lowering the SGV
gain to 3 (even less than in
Step 7—3.5), chattering
stops.
Next we should lower the
SGP gain.
Step 10
Overshoot is reduced very
little after lowering the SGP
gain to 3.5. (The SGV gain
might have been lowered
too much in Step 9.)
Next, we should try raising
the SGV gain again until
the overshoot is gone.
Step 11
When we raised the SGV
gain to 3.5, the step
response became fast and
very stable.