Hi Tom,

I appreciate the help, that does sound like the best approach, I was just unsure if I could control the servo parameters on the fly. If I reduce the MaxI will it limit the integrator to less than the current value? As in, could I wait until the brake has engaged and then reduce the MaxI to 0 or some tiny value to prevent jerk/overshoot on release? Or is there some other way to accomplish this?

In any case I guess I need to figure out the brake engagement time and try to minimize the time between changing the I gain and brake engagement. I probably need to integrate a sensor to get the brake timing as close as possible over a range of air pressures and to prevent damaging failure modes in case of air pressure failure/forgetting to turn on the air compressor.

Looks like I have some experimenting to do.

-Nate