The ability of a servo motor to perform the required moves within short times is limited by the temperature rise that results from the power dissipation. It follows, then, that the optimal design of a servo motor control system, which maximizes the system throughput, is the one that results in minimum servo motor temperature.
This post addresses the optimal design of a servo motor control system. It assumes a required motion of given length, and seeks the design that accomplishes the required move within a specified time, while minimizing the servo motor temperature.