This invention is directed to a method to improve the performance of stepper motor driven systems.Stepper motors are ubiquitous in modern office equipment and other machinery, yet little is published regarding their optimal use in open loop systems.Accurate control of a stepper motor is limited by the ability of the control system to approximate the actual motor and subsequently provide the correct instructions for achieving the actual desired movement with little or no error.Moving the motor to a specific position within a specified time period is difficult due to variations between motors and equipment models.The optimal solution may vary depending on the desired optimal factor, such as minimizing residual vibration, producing a quick settling time, or having an accurate position and velocity trajectory.Until now, finding an optimal solution was difficult and time consuming. This invention introduces a method and apparatus that allows real-time optimization of stepper motor performance.