Method and system for robust attenuation of mechanical resonances using a multi-rate low pass filter

摘要

A system for a providing a multi-rate digital low pass filter that attenuates high frequency resonances in a control signal. The filter described by a transfer function having a phase-advanced factor (or an approximation of phase-advanced factor) and a low pass filtering function; either cancels or avoids an unstable pole in the phase advanced factor at z=−1.