PID control: need D values > 10000??

[FrankJ]

I'm not necessarily disagreeing, but where did you get this information?

From the TI 2012 FAQ on the jags Question 41 addresses it. The file name is spma033a.pdf.

I used to tune flow & pressure control loops. Admittedly the transfer function for a position or velocity loop might look different. I generally found the process measurement value to be noisy enough to make the derivative term useless. Obviously others have found it useful since it is a lot easier to find PID controllers rather than PI controllers.