robot never estabilizes

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Hello. I am currently working with this robotic arm on Gazebo and I have the problem that it never stabilizes when I move it by sending an angle to a joint.

I have used the PID interface but I see that the problem is that it never stabilizes or there is a little vibration in the response of the controller.

This is what the rqt reconfigure shows

https://drive.google.com/file/d/1GTup...

and this is an example of how it vibrates

https://drive.google.com/file/d/1yqCG...

Any advice on how to fix this?