The multinotch, part I: A low latency, high numerical fidelity filter for mechatronic control systems

Control of lightly damped mechatronic systems is often accomplished in practice with a PID-like controller in series with a filter to limit the effects of high frequency resonances. The high frequency filtering is often limited by an inability to precisely match multiple lightly damped resonances with a digital filter, and by the extra computational delay of the such filters. The multinotch is a filter topology that addresses these issues, allowing for precise matches to many lightly damped resonances and anti-resonances, while maintaining a small and fixed computational delay [1]. Coefficient adjustments for higher precision when the resonant dynamics to be filtered span a large frequency range are described in [2].