The purpose of this work is to provide some notes on a software
implementation for digital filtering via Tustins Bilinear Transform. The first
section discusses how to solve for the input and output coefficients by hand
using a generalized approach called Horners method. The second section presents
some results of this generalized digital filtering approach using the IHMC Open
Robotics Software stack and Simulation Construction Set 2. This generalized
approach can solve for the digital coefficients for any causal transfer
function.Comment: 16 page