This paper proposes the procedure for minimising the dynamic error in the time and frequency domains, based on the example of a second-order sensor. Our procedure includes three main steps: modelling of the sensors using the Monte Carlo (MC) method; determination of the maximum value of the dynamic error using the integral-square criterion (ISC); and optimisation of the parameters of the sensor model by minimising the ISC. The uncertainties associated with the modelling procedure and the MC method are also considered. The mathematical formulae necessary for implementation in a given programming language (MathCad, MATLAB, C, etc.) are presented in detail. The proposed procedure was implemented in the frequency domain, using MathCad 15, and applied to the example of the Althen 731-207 accelerometer. Validation of the proposed procedure was carried out using a digital signal processor of type TMS320C6713. The proposed procedure can increase the accuracy of the signal processing obtained at the output of sensors applied to a wide range of measurements.