What is inertia ratio and how does it affect my system?
Inertia ratio is the ratio between the reflected system inertia and the motor’s rotor inertia. A large inertia ratio can cause a system to become unstable. In a system with low compliance such as a direct drive or a low backlash gearbox, inertia ratio can be as high as 10:1, but can prove to be a challenge to tune. In a higher compliance system such as a belt and pulley, or a higher backlash gearbox or rack and pinion, the inertia ratio should be kept below 5:1 in order to provide the highest possible performance.
