Minimization of transient signals in recursive time-varying digital filters

Changing the coefficient set of a recursive digital filter during operation results in a transient signal at the filter output. The amplitude of this transient signal may exceed the amplitude of the output signal before and well after the change of coefficients. This effect is rather disturbing in some applications, such as the processing of audio signals. It is shown how these transients can be minimized without increasing the computational complexity of the filter by the use of a properly chosen set of intermediate coefficients.