I'm thinking about getting a Power Commander. I have a 02 with a full Erion exhaust system. What improvements have you seen with the Power Commander? Is it worth getting?

You'll get a few more horses and it should run a bit better(bike tends to run rich without it). Map from power commander should help and give you a bit better exceleration and a few HP. If you get your bike dyno'd and make a custom map you'll get best results.

In my case the difference was huge...
With new exhausts the engine got very nervous.... A little twist with the wrist (like riding over a bump) resulted in big accelleration. It was hard to maintain even speed on bad roads.
The PC smoothed that out. Also, the dip at 5500RPM is totally gone!
Fuel consumption dropped like 10%, rideability increased, and I gained about 15HP on the rear wheel (including slip-ons and K&N)...
With the prices you pay in the USA well worth the money. We pay double, and I still would buy it again...