The embodiment of the invention relates to the technical field of filters, in particular to a filter, a filter filtering method and a storage medium. The filter comprises a PI loop and an auxiliary loop, an example
gain coefficient, a first integral
gain coefficient and a crossing frequency of the PI loop are determined when the auxiliary loop is closed, and a second integral
gain coefficient of the auxiliary loop acting on the PI loop is preliminarily determined based on the crossing frequency and a target
noise frequency. And the second integral
gain coefficient is adjusted through the output error of the filter, that is, the
parameter design of the auxiliary loop acting on the PI loop needs to be participated by the target
noise frequency to be filtered, that is, the parameters of the auxiliary loop participating in the filtering are adaptively adjusted based on the target
noise frequency to be filtered, and when the target noise frequency is changed, the target noise frequency is changed. In addition, the parameters of the auxiliary loop acting on the PI loop can be adaptively adjusted, so that the filter can be suitable for constant-value systems with different
frequency noise interferences, and the stability of the constant-value systems is improved.