In one embodiment, a local clock is synchronized to a master clock using a Kalman filter to determine state variables using a state transition matrix that includes at least one coefficient that is associated with a digital-to-analog converter (DAC), where the state variables include a unit step variable indicative of a unit step for the system. The local clock is controlled based on the state variables determined using the Kalman filter. The unit step is indicative of an amount by which the frequency of the local clock signal changes in response to a change in the digital input of the DAC.