PyShapeIt — Interactive Loop-Shaping Tool for Motion Control

PyShapeIt — Loop Shaping Tool

System

min Hz max Hz points

Controller

Performance

—

Frequency Response

Wrap phase

Time response

Freeze Transfer t s Input

Supported plant files

Files may be at most 2 MB.

Load plant from text

Plant name Input format Syntax

Plant data

Generic fourth-order plant

Mass 1 Mass 2 Damping Stiffness

Collocated actuator and sensor

Save controller

Content File format

Copy controller to clipboard

Representation Formatting

The values below are the complete equivalent controller. Copy them directly into Python code or MATLAB/Simulink block parameters.

Controller block transfer function

Closed-loop signal diagram

r: reference · e: error · u: plant input · d: input disturbance · v: output disturbance · y: output

Time response settings