An inverter system for mitigating oscillation of an electric motor that drives a load comprises a torque command generation module for receiving a commanded torque from an operator of a vehicle. A torque damping module is configured to receive the commanded torque and generating a commanded compensating torque to dampen any mechanical oscillation or resonance of the electric motor based on the observed rotational speed of the motor. The torque damping module further comprises a digital filter of order greater than one, a gain adjuster and a limiter.