My handwriting naturally wasn't fantastic, and when writing at the speed required for lectures, was dreadful. I found that writing all in capitals makes my handwriting improve no end, to the point that I don't have any trouble at all. I am now so used
to capitals that I find it really strange to write anything in lower case.
Hope this is of some use to you.
P.s. You will probably need to allow a week of two of hard graft to get used the change, as it took me a little while to adjust.