Hi gbman7a,
It seems you understand the basic idea is to get the red plot to closely follow the blue plot. When well tuned you may not be able to see any difference so plot error instead.
The green plot is what is being commanded to the amplifier. Note your green plots are saturating (flat top). Longer moves are worse as you try to go faster. Please read this post/thread and let us know how much you understand.
Please don't take photos of your screens. Instead use Alt-Print Screen, paste to Paint.exe, crop, and save to *.png file. Always include the IIR Filters and Configuration Screens so we know all your parameters.
It would also be helpful to know what kind of machine this is and what the encoder resolution is so we can relate to real speeds and distances.