I turned off thew JAC heater guardian at 17:42:00 UTC.
Then I applied a 0.2 V voltage offset to the error point to measure the step response.
I have turned the servo back on and added a lead compensation filter at 19:34:56 UTC.
I did some tuning of the pole but the config at the moment is a zero at 5.81e-6 Hz and a pole at 1.74e-5 Hz.