Consider a ay filter. We can define six transfer functions: H(z), H(2), H3(2), H4(2), H5(2), and H6(2)

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Consider a ay filter. We can define six transfer functions: H(z), H(2), H3(2), H4(2), H5(2), and H6(2) (predicted position, predicted velocity, predicted acceleration, smoothed position, smoothed velocity, and smoothed acceleration). Each transfer function has the form

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The denominator remains the same for all six transfer functions. Compute all the relevant coefficients for each transfer function.

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