One of the best ways to deal with this is to create a minimum lag for changes in direction which is dependent on the magnitude of change.

AKA, assuming you just bumped v from 10 - 11 based on a change from 100.9cm to 101cm then going back to 100.9cm will not change things for say 1second, going to 99cm changes things in 100ms second, 98cm changes in 100ms.