Last night the IMC lost lock because of a saturation of the control signal to MC suspensions.
To increase the range of the suspension control signal, control signal are fed back to not only the MCE but also to the MCI. Let's see how it would change the stability of the IMC. Accordingly the servo gain (K1:IMC-MCL_SERVO_GAIN) changed to 0.2 from 0.3. I changed to adjust the crossover frequency to 10 Hz.