1. A method of compensating errors in a digital-to-analog converter (DAC) generating output values, comprising the step of modifying input values for the DAC before entering the DAC, wherein the modifying is made to compensate for errors produced according to a model in which each output value of the DAC is a sum of a desired value directly proportional to a respective input value and an error being a product of a settled output value, which is the difference between the desired value and a previous output value actually provided by the DAC, and a relative step error that is a function only of the respective input value.