Newport XPS-Q8 Users Manual, Software Tools And Tutorial page 196

XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Basics & Tuning
14.3.4.2
In most cases, only Ki is needed to correct static errors.
The overall gain of the integral part of the servo loop at a given frequency Frq is:
This gain is equal to one at:
184
Motion Tutorial