Abstract: A method and apparatus for minimizing resonant oscillations in a dual inertia system characterized by minimally stable poles and both a resonant frequency and an anti-resonant frequency, the apparatus including a notch filter which is tuned so that notch filter zeros essentially cancel the minimally stable poles and so that at least one notch pole is located at the intersection of a real axis and an system anti-resonant zero radius on a root-loci plot, thereby rendering an exceptionally stable system, the method for tuning the notch filter as described.