Abstract: A circuit for accepting a train of command pulses produced as a number of evenly spaced pulses for each consecutive equal time interval and which may have abrupt small changes in rates between adjacent time intervals and providing a motor pulse for each command pulse to a digital pulse to step motor circuit with the motor pulses having less abrupt rate changes and lagging its corresponding command pulse generally by about the extent of a time interval and in which the deviation of the position of the motor's rotor from its energized dictated position also alters the rate of the motor pulses in order to decrease the tendency of the motor to flutter, oscillate and/or lose synchronism especially when the motor is operating at a light or no load within a moderate velocity range.