performance_comments.txt

My system was able to follow about a frequency of 4. Much higher than that and it wouldn't always hit the max and min that it should have, and at about 6 it just became an essentially flat line.
Kv in the controller updates the gain, appears to make larger changes the higher the gain is (and thus is more jagged) and smaller changes with a lower gain (smoother curves)
dt in the simulator increases the number of integration steps, makes curves smoother and more accurate but uses more cpu