Tuning Large Inertia and Large Inertia Mismatch Ratios such as 100 : 1 

Most mechanical engineers know how to match inertia ratios in the range of 1:1 to 1:10 for optimal servo performance however, we may still find some very large inertias to tune or some large mismatches. We see some basic mechatronics rules and then an example to show how to tune a large inertia by reducing the velocity loop bandwidth and cranking up the gain in the velocity loop (increasing the electro mechanical time constant) while lowering the gain in the position loop (lowering the amplitude of the response bounce).