Another problem is that when I calculated Kp according to formulas 7-18, 7-19, 7-20, I found that the value of I_Drivetrain I used was wrong. But this number is based on previous discussions on the forum (Question about PI control - #14 by Jason.Jonkman). Could you help me point out my mistake? Attached here are my two calculations, and it looks like the I_Drivetrain number should be something close to 72900.
