A method for filtering signals from a nonlinear dynamical system is provided. An initial enhanced point is set to a noisy point obtained from the signals. An intermediate enhanced point is estimated. A new enhanced point is calculated using the estimated point and a weighting constant. Estimation of an intermediate enhanced point and calculation of a new enhanced point are iterated until the computed point converges to a true enhanced point which represents a noise reduced signal to provide filtered signals, wherein the new enhanced point is computed by the equation {circumflex over (x)}n(i)={circumflex over (x)}n(i−1)+K3[{circumflex over (x)}n(i,temp)−{circumflex over (x)}n(i−1)] wherein {circumflex over (x)}n(i) is the new enhanced point, {circumflex over (x)}n(i-temp) is the intermediate enhanced point for iteration i, {circumflex over (x)}n(i−1) is the enhanced point at iteration i−1, and K3 is a weighing constant.