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Explore the loop
1 · machine
2 · experiment
3 · speed
4 · export
Experiment coach
Begin with one controlled change
Choose a motor, freeze the controller, and change the real delay. This isolates the plant effect so the pole movement has a clear meaning.
Computing…
Initial calculation…
Textbook IMC PI · delay ignored at design
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Delay-aware discrete design · LoopForge
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Interpret this result
The calculation is ready
LoopForge will explain the strongest conclusion here after the first valid calculation.
One-click experiments · learn by contrast
Each experiment changes one meaningful assumption and keeps the comparison visible. Restore your setup at any time.
Stability across the speed range
textbook IMC PI
delay-aware design
above the red line = unstable
Closed-loop poles · z-plane
× delay-aware
○ textbook
iq reference step at this speed
textbook
delay-aware
Advanced numerical diagnostics
Delay-aware radius…
Textbook radius…
Discrete margin…
Td / Ts…
Electrical speed…
Result delta…
Delay-aware gains at this scheduling point
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