Elmo HARmonica, Руководство по настройке

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We would expect an overshoot on the velocity followed by a small undershoot.
9. You may iterate on the KI parameter of the inner loop and on the outer loop
parameter KP. The iteration range for the KI of the inner loop should not exceed
50% of its original value, and the iteration on the outer loop should not exceed
100% of its original value.
Increasing the position KP to 400 gives the following:
A second overshoot has occurred on the velocity and position error, which
reflect instability.
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