Table 4.

Controller gains implemented in the system.

Loop	Gain	Smart manifold (rotaty)	ISA V5 (linear)
Current	$K_p$	16 V/mA	16 V/mA
	$K_i$	-	-
	$K_d$	-	-
	$K_{pf}$	1.15	1.15
	${\omega }_{lead}$	10,681 rad/s	10,681 rad/s
	${\omega }_{lag}$	2,513.3 rad/s	25,133 rad/s
	${\zeta }_{lag}$	0.1	0.1
	${\zeta }_{lead}$	0.65	0.65
Spool	$K_p$	-	0.4 mA
	$K_i$	-	-
	$K_d$	-	-
Force/torque	$K_p$	0.04 mA/Nm	0.02 mm/N
	$K_i$	7 mA/Nms	0.85 mm/Ns
	$K_d$	-	-
Position	$K_p^{\ast }$	300 Nm/rad	20,000 N/mm
	$K_i$	-	-
	$K_d^{\ast }$	20 Nms/rad	9,500 Ns/mm
Velocity compensation	Kv	0.65 mA/s	240 s
Force damping gain	Kf	0.004 s	0.006 s

Gains marked with an asterisk (*) may change depending on the task.