Consider a ay filter. We can define six transfer functions: H(z), H2(z), H3(z), H4(z), H(z), and H6(z) (predicted position, predicted velocity, predicted acceleration, smoothed position, smoothed velocity, and smoothed acceleration). Each transfer function has the form -1 az az az H(z) = -1 -2 The denominator remains the same for all six transfer functions. Compute all the relevant coefficients for each transfer function.