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ServoLoopGainKip Parameter

The ServoLoopGainKip Parameter sets the frequency at which the primary behavior of the controller changes from an integral response to a spring-like proportional gain. In feedback control theory, this parameter value is the location of the lower-frequency real-axis zero of the transfer function of a Proportional-Integral-Derivative (PID) controller in units of Hz. If you increase the value of the ServoLoopGainKip parameter, the controller feedback path increases the control effort more quickly when it tries to correct for a steady error input. For the typical implementation of the servo loop, set the ServoLoopGainKip parameter to half the value of the ServoLoopGainKiv Parameter.

 

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