This paper presents a systematic computation method of discrete-time plant response based on the continuous-time bode measurement, also proposes a 2times multi-rate notch filter to attenuate the resonant mode higher than sampling rate
['Wen-Jun Cao', 'MingZhong Ding', 'KianKeong Ooi']
Servo Systems Using Multi-rate Notch Filters To Attenuate Resonances Beyond Nyquist Rate