[billbo911]

I've created a LabView version of this control system. It is written to match what Ether has in his original document and revisions.
I won't have the ability to actually test it for a couple of weeks.
With this version you can set the execution cycle time quite easily because it runs in Periodic Tasks.vi.
Without actually tessting, I think one key to making this work well is a large enough moment of inertia. Actual testing should reveal what "enough" is.

I'm writing this on a moblie device, so I can't add my vi's but will edit this later today and add them when I'm at home.