1. A non-transitory computer-readable storage medium with an executable program stored thereon, wherein the program instructs a microprocessor to perform a method of a digital processor for low delay recursive filter design, the method comprising: determining a predefined filter template with higher magnitude specification than a target filter design; determining at least one relaxation bound on the filter specification utilizing the predefined filter template; specifying at least one constraint for the target filter design utilizing the at least one relaxation bound; and determining a low delay recursive filter design for minimizing the average group delay of the filter utilizing the at least one constraint.