System and methods for positioning a tool in a robotic system include determining primary position information for the tool at a first frequency and determining secondary position information for the tool at a second frequency. The tool is moved in a first position control mode and a second position control mode based on the primary position information and the secondary position information. At least one of the first and second frequencies in each of the first and second position control modes is adjusted. A difference between the first and second frequencies in the first position control mode is different than a difference between the first and second frequencies in the second position control mode.
