About Tuning Position Axis- Positive good negative bad

Positive direction is good but Negative is bad.
How should i Solve it. when i modify the velocity feedback neg, as the Acceleration Feed Forward is affected by velocity feedback neg and velocity feedback pos,So the positive has also been affected。

How should i Solve this case。
Plot03.rar (300 KB)

I think you can increase the Proportional Gain. If it starts oscillating, use the Output Filter.

I try it follow your advise。it is better than before。

I want to know how do you determine using Proportional Gain and Output Filter from the plot?