Hello everyone! I had to deal recently with an SPM motor what I discovered is that for higher gains of proportional contribution even if PI regulator was theoretically stable, it had problems because it kinda locked it making a big noise. What was the reason of that do you know? Please explain it if you know, I've been surfing on the internet but didn't find much. I heard there's something like a wobble oscillation? Kp was something like 0.098 but it started happening after 0.025.