The system inertia is an important input into both SpinTAC Velocity Control and SpinTAC Position Control. The inertia value is estimated using SpinTAC Velocity Identify. SpinTAC Velocity Identify is produces a very accurate inertia estimation. In order to test the repeatability of SpinTAC Velocity Identify, the inertia identification process was ran 100 times for each motor. The results are collected in Figure 6-14 and Figure 6-15.

From the above results, it is clear that SpinTAC Velocity Identify has a very high degree of repeatability. It is not required that the inertia estimation that is provided to the SpinTAC controller be the perfect inertia value. As a robustness feature, a SpinTAC speed controller can accept a wide range of inertia changes. However, the SpinTAC speed controller will always produce the best performance if the inertia value provided to it is accurate.