What I did:
I have changed the c1ioo model such that the signals which are demodulated in the WFS lockin (the SIG inputs) are now picked up just after the input matrix. This permits us to put a notch filter at the excitation frequency into the WFS servo filterbanks and thus prevent the excitation of all the actuators when we wish to excite just one of them.
I had followed the procedure of determining the TF coefs between actuators (MC1,2,3 P and Y ) and sensors (WFS1, 2 and MC2Trans P and Y) and found the output matrix by inverting this TF coef matrix. However these matrices, once substituted for the heuristically determined matrices were always unsuccessful in keeping the WFS servo lock. The reason appeared to be that when the loops are closed the exitation of one actuator led to the excitation of all actuators through the cross couplings in the output matrix. In order to prevent this we need a notch filter in the servo filter banks. But then we will not be able to see the sensor response after the servo filters since the response at 10Hz would be blocked from reaching the lockins. So I shifted the point at which we sample the sensor response to a point before the WFS servo filters.
a) shift the point where the lockin input signals are picked up in the c1ioo model.
b) retune the lockin servo phases to minimise Q phase
c) edit the WFS lockin scripts to ensure that the 10Hz notch is turned on
d) measure the TF coefs and compute the -1*inverse
e) plug it into the output matrix and tweak the gains to ensure a stable lock
f) examine cross talk by comparing the expected TF in each loop with the expected loop TF.
I have completed steps a to e above. The loops are stable and the error signal is suppressed (see attached pdf files)
To be done:
The open loop transfer function has to be compared with expected OLTF to be sure we have minimised cross talk.