Hi Henrik.

Hmm, I do not have a time base for the PID. It is in the close loop of the main. Sure is not predictable rate.

Also I noticed that using a 470uF capacitor in the place of the 10uF help a lot, so your point of using a slow like 5Hz rate is a good one.

I did not used the Velocity so far, it is a good poin also. Will try it an report.

Thanks both for the help.

Ioannis