As showed by @kyoronut, the current oracle introduces an error on the HAI/USD quote that gets inputted to the PI Controller:

Source: https://dune.com/queries/3832629/6446127

The quote HAI/USD is the result of mixing HAI/ETH (UniV3) and ETH/USD (Chainlink).

The error results from querying HAI/ETH on UniV3 Pool with a TWAP of 1d, and pairing it with the spot price of ETH/USD read from Chainlink. Then, when ETH drops, the ultimate HAI/USD quote increases., and the inverse is also true.

This effect changes for different TWAP lengths, as showed in the following chart:

Source: https://dune.com/queries/3832910/6446607

Ultimately, querying the spot price should reduce the error to 0, but be exposed to oracle manipulation attacks.

The aim of this proposal is to deploy different HAI/ETH UniV3 Relayers (aiming to the same pool), with the proposed TWAPs of 12hs, 6hs, 3hs, in order to have at disposal, should the DAO decide to change the Market Price Oracle to one of the deployed ones.