Patent ID: 7193799

Claim:
An apparatus to remove a resonance frequency of a system, the apparatus comprising: a frequency generator to generate an excitation signal based on a sampling rate with which a detector samples a signal used to control the system, and to apply the excitation signal to the system; a resonance detector to detect the resonance frequency from a response signal that is responsive to the excitation signal being applied to the system; and a programmable filter to remove the detected resonance frequency, wherein the generated excitation signal has frequency components up to a servo sampling frequency bandwidth of a servo control used in the system, wherein said frequency generator increases a frequency of the excitation signal at predetermined intervals beginning at a bandwidth at or below a Nyquist frequency and increased to at least a sampling frequency bandwidth, and wherein said resonance detector determines a frequency of the excitation signal as the resonance frequency when a magnitude of the response signal exceeds a critical value in a time domain without a frequency transformation of the response signal.