An inverter system for mitigating oscillation of an electric motor that drives a load, the inverter system comprising: a torque command generation module for receiving (S600) a commanded torque from an operator of a vehicle; characterized by a torque damping module comprising a summer for receiving the commanded torque and a commanded compensating torque to minimize a torque error between the commanded torque and the commanded compensating torque , the torque damping module configured to generate (S602) the commanded compensating torque to dampen any mechanical oscillation or resonance of the electric motor based on an observed rotational speed of the motor, wherein in the torque damping module further comprises: a filter of order greater than one, wherein the filter has a bandpass or high-pass filter response of magnitude versus frequency, wherein the input to the filter comprises the observed rotational speed of the motor and wherein the output of the filter comprises an isolated oscillation or ripple of the observed rotational speed with a removed or attenuated DC offset in the compensating torque; a gain adjuster coupled to the output of the filter , the gain adjuster configured to determine a gain of the commanded compensating torque based on the isolated oscillation or ripple of the observed rotational speed; and a limiter for restricting the gain to a lower limit of the gain and an upper limit of the gain based on integration of the ripple of the observed rotational speed or proportional integral control of the ripple component of the observed speed, wherein a combination of the gain adjuster and the limiter comprises a proportional integral controller or a proportional integral differential controller that is configured to schedule the gain based on detecting whether the electric motor is operating in a first torque range or a second torque range that is different than the first torque range, wherein the first torque range comprises a low torque range and wherein the second torque range comprises a high torque range with respect to the low torque range, where the first torque range is associated with a corresponding first gain or initial gain that is stable relative to one or more poles, on a left-side of a first root locus diagram, and wherein the second torque range is associated with a corresponding second gain or revised gain that is stable relative to one or more poles, on the left-side of a second root locus diagram. a gain adjuster coupled to the output of the filter , the gain adjuster configured to determine a gain of the commanded compensating torque based on the isolated oscillation or ripple of the observed rotational speed; and a limiter for restricting the gain to a lower limit of the gain and an upper limit of the gain based on integration of the ripple of the observed rotational speed or proportional integral control of the ripple component of the observed speed, wherein a combination of the gain adjuster and the limiter comprises a proportional integral controller or a proportional integral differential controller that is configured to schedule the gain based on detecting whether the electric motor is operating in a first torque range or a second torque range that is different than the first torque range, wherein the first torque range comprises a low torque range and wherein the second torque range comprises a high torque range with respect to the low torque range, where the first torque range is associated with a corresponding first gain or initial gain that is stable relative to one or more poles, on a left-side of a first root locus diagram, and wherein the second torque range is associated with a corresponding second gain or revised gain that is stable relative to one or more poles, on the left-side of a second root locus diagram. <EOS>