A control system including a filter module generates a filtered disturbance signal based on a disturbance signal and a transfer function of the filter module. A set point adjustment module generates an adjusted set point signal based on a set point signal and the filtered disturbance signal. A servo control module generates an error signal based on the adjusted set point signal and a position feedback signal. A filter adjustment module generates a filter adjustment signal based on the disturbance signal and the error signal. The filter adjustment signal adjusts the transfer function.