filter at the output could be counterproductive, since the load impedance is a big unknown (the whole point here), you could easily get to an unstable regime, or oscillations due to the added filter, especially if there is a feedback loop acting on voltage.
The thing is, having low impedance load on motor startup is a common situation to happen, and it should make for a more graceful failure, like limiting the output current to a sine wave.
The point is valid, this failure of output control should be adressed.