I thought it might be informative before trying to optimise the filter design to see how the current one performs with different gain settings. I've plotted the power spectra for ITMY yaw with filter gains of 0, 1, 2, 3 and 4.
All of the higher gains seem to perform better than the 0 gain, so can I deduce from this that so far the oplev control loop isn't adding excess noise at these frequencies? |