A method for executing partial-stroke tests of valves, the method comprising: generating a setpoint signal to stroke a valve during a partial-stroke test, including: determining a first target for the setpoint signal based at least on a travel displacement threshold, the travel displacement threshold corresponding to a desired extent of travel of the valve during the partial-stroke test, wherein the first target corresponds to a larger extent of valve travel than the travel displacement threshold, ramping the setpoint signal from an initial value to the first target, during a first time interval, subsequently to the first time interval, maintaining the setpoint signal at the first target during a second time interval, determining a second target for the setpoint signal based at least on the initial value, and during a third time interval subsequent to the second interval, ramping the setpoint signal from the first target to the second target in a direction opposite to the ramping of the setpoint signal during the first time interval; applying the setpoint signal to the valve; and determining whether the valve passes the partial-stroke test using a response to the setpoint signal. generating a setpoint signal to stroke a valve during a partial-stroke test, including: determining a first target for the setpoint signal based at least on a travel displacement threshold, the travel displacement threshold corresponding to a desired extent of travel of the valve during the partial-stroke test, wherein the first target corresponds to a larger extent of valve travel than the travel displacement threshold, ramping the setpoint signal from an initial value to the first target, during a first time interval, subsequently to the first time interval, maintaining the setpoint signal at the first target during a second time interval, determining a second target for the setpoint signal based at least on the initial value, and during a third time interval subsequent to the second interval, ramping the setpoint signal from the first target to the second target in a direction opposite to the ramping of the setpoint signal during the first time interval; determining a first target for the setpoint signal based at least on a travel displacement threshold, the travel displacement threshold corresponding to a desired extent of travel of the valve during the partial-stroke test, wherein the first target corresponds to a larger extent of valve travel than the travel displacement threshold, ramping the setpoint signal from an initial value to the first target, during a first time interval, subsequently to the first time interval, maintaining the setpoint signal at the first target during a second time interval, determining a second target for the setpoint signal based at least on the initial value, and during a third time interval subsequent to the second interval, ramping the setpoint signal from the first target to the second target in a direction opposite to the ramping of the setpoint signal during the first time interval; applying the setpoint signal to the valve; and determining whether the valve passes the partial-stroke test using a response to the setpoint signal.