A gradient amplifier system includes a gradient amplifier for driving a gradient current through the gradient coil. The gradient amplifier includes a gradient filter; a controller coupled to the gradient amplifier for controlling the gradient current in the gradient coil; a feedback loop for feeding only the gradient current in the gradient coil back to the controller. The controller is configured based on only the fedback gradient current in the gradient coil. Filter parameters of the gradient filter are adjusted to achieve a minimum shift between predetermined poles representing a desired performance of the gradient amplifier system and actual poles of a rational transfer function associated with the controller.