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.

翻译：本文旨在提供通过Tustin双线性变换实现数字滤波的一些软件实现要点。第一部分讨论如何使用称为霍纳法的通用方法手动求解输入和输出系数。第二部分展示采用IHMC开源机器人软件栈及仿真构建工具集2应用该通用数字滤波方法所得的部分结果。该通用方法可求解任意因果传递函数的数字系数。