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.