A control device for tuning a servo motor in a plurality of tuning iterations, the control device comprising: a calculation unit configured to determine a current proportional speed gain (K n), which is a proportional speed gain of a current tuning iteration of the servo motor, and to calculate a stabilization time ratio based on a current stabilization time (S n) of the servo motor and a target stabilization time (Starget), a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, and to determine a next proportional speed gain (K n+1) using the selected gain determination process, the next proportional speed gain being a proportional speed gain of the next tuning iteration following the current tuning iteration, characterized in that the determination unit is configured: to select a skip step gain determination process, in which the next proportional speed gain is determined by a first calculation rule and the determined current proportional speed gain, wherein the first calculation rule is dependent on the calculated stabilization time ratio, if the stabilization time ratio is equal to or greater than a predetermined reference value, and to select a one step gain determination process, in which the next proportional speed gain is determined by a second calculation rule and the determined current proportional speed gain, wherein the second calculation rule is independent of the calculated stabilization time ratio, if the stabilization time ratio is below the predetermined reference value. a calculation unit configured to determine a current proportional speed gain (K n), which is a proportional speed gain of a current tuning iteration of the servo motor, and to calculate a stabilization time ratio based on a current stabilization time (S n) of the servo motor and a target stabilization time (Starget), a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, and to determine a next proportional speed gain (K n+1) using the selected gain determination process, the next proportional speed gain being a proportional speed gain of the next tuning iteration following the current tuning iteration, characterized in that the determination unit is configured: to select a skip step gain determination process, in which the next proportional speed gain is determined by a first calculation rule and the determined current proportional speed gain, wherein the first calculation rule is dependent on the calculated stabilization time ratio, if the stabilization time ratio is equal to or greater than a predetermined reference value, and to select a one step gain determination process, in which the next proportional speed gain is determined by a second calculation rule and the determined current proportional speed gain, wherein the second calculation rule is independent of the calculated stabilization time ratio, if the stabilization time ratio is below the predetermined reference value. to select a skip step gain determination process, in which the next proportional speed gain is determined by a first calculation rule and the determined current proportional speed gain, wherein the first calculation rule is dependent on the calculated stabilization time ratio, if the stabilization time ratio is equal to or greater than a predetermined reference value, and to select a one step gain determination process, in which the next proportional speed gain is determined by a second calculation rule and the determined current proportional speed gain, wherein the second calculation rule is independent of the calculated stabilization time ratio, if the stabilization time ratio is below the predetermined reference value.