# Position Loop High Response Speed Problem

**URL:** https://community.simplefoc.com/t/position-loop-high-response-speed-problem/6597
**Category:** developement
**Tags:** pid, control, foc-algorithm, foc, position\_control
**Created:** [January 16, 2025, 8:20pm UTC](https://community.simplefoc.com/t/position-loop-high-response-speed-problem/6597 "2025-01-16T20:20:05Z")
**Posts on this page:** 1
**Showing post:** 4

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### Author: ![quentin](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/q/e47c2d/32.png) [@quentin](https://community.simplefoc.com/u/quentin)
#### Post date: [January 18, 2025, 12:23pm UTC](https://community.simplefoc.com/t/position-loop-high-response-speed-problem/6597/4 "2025-01-18T12:23:21Z")

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Hi @azure ,

Don’t forget that you response speed depends on:

1. The IMU sample rate
2. The AHRS algorithm loop rate
3. The AHRS algorithm settings (more stability = less responsiveness)
4. The encoder precision and speed
5. The motor loop speed
6. The PID tuning

Also, there’s a related topic here:

> [@Gyro Stabilize Motion Reaction Problem](https://community.simplefoc.com/t/gyro-stabilize-motion-reaction-problem/5629):
>
> Hello, I am trying to design gimbal. I have a good encoder and also good perforamnce IMU. I can get directly AHRS data from my IMU with 100hz. I use SimpleFOC library to drive my motors. Actually, velocity loop and position loop working normally in a good way. I have designed my own tuner. For example I can give the input with different frequencies and angles or velocity inputs. (for example, 5hz 0.1 rad/s or 10 hz 10 deg) etc. Here some results. It’s the 5 degree input to position loop at …

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_[View the full topic](https://community.simplefoc.com/t/position-loop-high-response-speed-problem/6597)._