Scaling and parameterizing a controller

A method, comprising:

• tuning a controller for closed-loop control of a plant, wherein the controller is embodied on at least one of an integrated circuit, a microprocessor, or a programmable logic device;
• and
• controlling the plant by the controller,
• wherein
• the controller comprises two or more gains that are functions of a single control tuning parameter comprising a control system bandwidth of the controller,
• the two or more gains are represented by respective two or more mathematically related functions of the controller, the only variable of the two or more mathematically related functions being the single control tuning parameter, and
• the control system bandwidth defines a common location of N poles of an Nth order closed-loop system comprising the controller and the plant, where N is an integer.

A system, comprising:

• a servo;
• and
• a controller configured to control at least one of a position or a speed of the servo, wherein
• the controller is embodied on at least one of an integrated circuit, a microprocessor, or a programmable logic device,
• the controller comprises two or more gains represented by respective two or more mathematically related functions, where an only variable of the respective two or more functions is a single control tuning parameter, and
• the single control tuning parameter is a control system bandwidth of the controller, the control system bandwidth defining a common location of N poles of an Nth order closed-loop system comprising the controller and the servo, where N is an integer.