Stepper motor, do new commands override old ones before they are complete?

Yes running average could be good enough for what you do; you can see PID as running average on steroid :slight_smile:

The other thing that you need to think about is if your stepper is not too coarse to drive the behavior you want? I don’t see the scale for your blue line in the sceeen capture above - seems that your flow undershoot with a very small change in the blue line and then there is tremendous inertia to go back down (is servo strong enough to block the flow?) -> how many ticks do you have between the low value and the blue peak ?