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These seem like pretty terrible loop shapes. Can you give us a plot with the breakdown of several of the TFs and some .m file?
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Attached is matlab code that I used
% IMC OL
G = zpk(-2*pi*8964, 2*pi*[-10; -10; -10; -1000; -274000], db2mag(242.5)) * ...
tf([1 0.8*1.55e+05 3.1806e+10], 1);
% CARM PATH
CARM = G/(1+G);
% Common mode boosts
BOOST = zpk(-2*pi*4000, -2*pi*40, 1);
BOOST1 = zpk(-2*pi*20000, -2*pi*1000, 1);
BOOST2 = zpk(-2*pi*20000, -2*pi*1000, 1);
BOOST3 = zpk(-2*pi*4500, -2*pi*300, 1);
% Coupled cavity pole
CCPole = zpk([], -2*pi*100, 2*pi*100);
% Servo gain
Gain = db2mag(43);
% CARM OL with boosts
H = CARM * CCPole * BOOST * Gain;
H1 = H * BOOST1;
H2 = H1 * BOOST2;
H3 = H2 * BOOST3;
% Plot
% bode(H, H1, H2, H3, 2*pi*logspace(3, 5, 10000));
% bode(1/(1+H), 1/(1+H1), 1/(1+H2), 1/(1+H3), 2*pi*logspace(3, 5, 10000)); |