[Asymons]

Originally Posted by GeeTwo

I haven't looked at your details yet, but in general a larger magnitude for D (that is, derivative of the error, or velocity for a mechanical system going for a position) will act like a dashpot/shock absorber and dampen your system.

Thanks for the advice. Once you read the details, I have a couple of questions: Are you suggesting I should add in the derivative of error to fix the oscillation of the motor?
How would the tuning work if the system has an issue with just a P-closed loop essentially? Would that not continue having error in the sense of a continued oscillation?