How Do I filter this zigzag wave?

I use simulink to simulate my manipulator, and this is a data of position,velocity, acceleration and joint moment. My qestion is that there is some zigzag wave, why does this happen and how sovle is through filtering?

[Mathieu NOE]

if you export your signals to the worspace , there are many funtions to use to smooth your data , like smoothdata or this Fex submission : smoothn - File Exchange - MATLAB Central (mathworks.com)

[Jon]

I don't have the full context for your problem, but I think you may have some stability problems with your control that are displayed in your data. If this is the case you should determine how to stabilize the control (perhaps tuning of the controllers) rather than filtering the data and hiding the problem.

Answer 1

[Mathieu NOE]

following my comments above, if you use smoothn - File Exchange - MATLAB Central (mathworks.com)

the 'robust' method can remove your spikes quite efficiently :

x = linspace(0,100,256);
  y = cos(x/10)+(x/50).^2 + randn(size(x))/10;
  y([70 75 80]) = [5.5 5 6];
  N = 100;
  z = smoothn(y,N); % Regular smoothing
  zr = smoothn(y,N,'robust'); % Robust smoothing
  subplot(121), plot(x,y,'r',x,z,'k','LineWidth',2)
  axis square,  title('Regular smoothing')
  subplot(122), plot(x,y,'r',x,zr,'k','LineWidth',2)
  axis square,  title('Robust smoothing')