In order to do online static IIR Wiener filtering one needs to do the following,
1) Get data for FIR Wiener filter witnesses and target.
2) Measure the transfer function (needs to be highly coherent, ~ 0.95 for all points) from the actuactor to the control signal of interest (ie. from MC2_OUT to MC_L).
3) Invert the actuator transfer function.
4) Use Vectfit or (LISO) to find a ZPK model for the actuator transfer and inverse transfer functions.
5) Prefilter your witness data with the actuator transfer function, to take into account the actuator to control transfer function when designing the offline Wiener FIR filter.
6) Calculate the frequency response for each witness from the FIR coefficients.
7) Vectfit the frequency reponses to a ZPK model, this is the FIR to IIR Wiener conversion step.
8) Now, either, divide the IIR transfer function by the actuator transfer function or more preferably, multiply by the inverse transfer function.
9) Use Quack to make SOS model of the IIR Wiener filter and inverse transfer function product that goes into foton for online implementation.
10) Load it into the system.
The block diagram below summarizes the steps above.
