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Somehow, I generically don't like the idea of lead filters for the WFS loops. We don't really need so much bandwidth. I think you should include with the servo measurements, a servo model ( on the same plot ) that matches the loop shape.
For example, this means including the 28 Hz ELP in the MC1/3 hardware and MC2 ASCPIT/YAW digital filter banks. BY comparing the model v. measurement we can determine if the cross-coupling due to imperfect output matrix is very serious or not.
In the measurements, the loop with the most low frequency gain looks the most promising.
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WFS1_PIT servo replotted with foton data overlaid:
I included the following filters in foton:
1) Integrator: zpk([0.8],[0],0.8,"n")
2) zpk([0.8],[100,100],1,"n")
3) zpk([1:10],[3,30],1,"n")
4) ELP28
I have unwound the phase by adding or subtracting 180 to portions of the phase data.
And here is the plot for WFS1_PIT. I will repeat this process for the other three WFS loops tomorrow.
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