a method and apparatus are provided for estimating and / or precluding stick - slip , or other oscillatory or resonant behavior , through use of a virtual transducer , which precludes the need for having sensors located adjacent to a driven element of the system , or adjacent contact surfaces at which the stick - slip relative motion may occur . parameters measurable at a drive mechanism are utilized for controlling a system in a manner which precludes stick - slip , or other oscillatory or resonant behavior , of the driven element . relative motion between contacting surfaces in the driven element , prone to stick - slip behavior , is controlled such that , after sufficient force is applied by the drive element to overcome static friction forces between the contacting surfaces and break them free from one another , relative motion between the surfaces is maintained at a high enough relative speed that the surfaces are precluded from statically contacting one another , so that stick - slip behavior is precluded .