1. A method of determining a control input signal, comprising: determining a jerk parameter equation, the jerk parameter equation being 9 &Sum; i = 0 N &it; ( - 1 ) i + 1 &it; T i = 1 J determining a first constraint equation, the first constraint equation being 10 &Sum; i = 0 N &it; ( - 1 ) i &it; exp &af; ( - σ k &it; T i ) &it; cos &af; ( ω k &it; T i ) = 0 &it; &it; for &it; &it; k = 1, 2, 3, … determining a second constraint equation, the second constraint equation being 11 &Sum; i = 0 N &it; &it; ( - 1 ) i &it; exp &af; ( - σ k &it; T i ) &it; sin &af; ( ω k &it; T i ) = 0 &it; &it; for &it; &it; k = 1, 2, 3, … determining a set of T i values that provides a solution for each of (a) the jerk parameter equation, (b) the first constraint equation and (c) the second constraint equation; selecting the set of T i values to provide a selected set; using the selected set to determine a corresponding transfer function according to the following equation; 12 G &af; ( s ) = &Sum; i = 0 N &it; &it; ( - 1 ) i &it; exp &af; ( - sT i ) coupling the transfer function with a filter to provide an augmented transfer function; and acting upon an input signal according to the augmented transfer function to provide a control input signal: