Optimization and Engineering

, Volume 16, Issue 1, pp 183–201 | Cite as

Commissioning rules for optimal velocity controller damping of servo axes using elimination methods

  • Ekkehard Batzies
  • Lukas Katthän
  • Volkmar Welker
  • Oliver Zirn


We present a new and algebraic approach to the optimal damping of servo axes during commissioning. The approach is based on control of root loci of the denominator of the transfer function using algebraic elimination. The results are either explicit formulas for simple systems or descriptions of the optima via roots of univariate polynomials. The power of the result is demonstrated in examples.


Commissioning rule Damping Servo axis Algebraic elimination method Gröbner basis 



We thank the referees of the paper for their suggestions and hints which helped to improve the scientific and write-up quality. This work was supported by the DFG Grant ZI 1301/1-1


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Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  • Ekkehard Batzies
    • 1
  • Lukas Katthän
    • 2
  • Volkmar Welker
    • 2
  • Oliver Zirn
    • 3
  1. 1.Fakultät für Computer & Electrical EngineeringHochschule FurtwangenFurtwangenGermany
  2. 2.Fachbereich Mathematik und InformatikPhilipps-Universität MarburgMarburgGermany
  3. 3.Fakultät für Technik, Bereich InformationstechnikHochschule PforzheimPforzheimGermany

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