Patent ID: 7035694

Claim:
A carrier medium which stores program instructions for automatically tuning a motion control system, wherein the program instructions are executable by a processor to perform: receiving a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions, wherein each dimension corresponds to an axis of the motion controller; initializing values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space; receiving a response trajectory of the controller and motion control system in response to the desired trajectory; determining an error between the response trajectory and the desired trajectory; and experimentally searching the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory; wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains.