This work adds another external loop to the Velocity PI Loop. A parameter Kv is defined (Static Velocity Error Constant) and is used in an empirically derived relationship with the Velocity Closed Loop Bandwidth (ω3dBf) to set the Position Closed Loop Bandwidth (POS_BW(ϒ,M)). M being 5 or 10 which is the Velocity Loop divisor to select the Position Bandwidth.
