i just got this. stumbled on a post and then looked further in. I’m pretty sure im not Bert. From what i read he is describing something that is extremely described already if you know where to look. I dont know his history or background but he is describing in pieces and parts inertia mismatch without the math and support, Im not here to pick a side but if you or he were looking for a google search I would try something like “servo positioning inertia mismatch ratio”. even the search string probably feels a little alien but it applies to any electric motor performing torque,velocity, or positioning which is really at the core of all of the motion control of an RC vehicle. i have found it impossible to find the suggested ratios after understanding the science but 60:1,30:1, and 10:1 in that order has worked on at least a few 1000 I have sized.