Problem with Cruise Control (Jerks and Surges when engaged)

I have a 2004 Ford F-350 with a 6.0L Diesel, and whenever the cruise is engaged the truck jerks and surges. The tach and speedometer act normally the whole time- though I do register a slight surge on my Edge Tach display. I am not sure where to turn, as I’ve dealt with this kind of problem before- and it is really annoying! Thank you very much for your time!