[YamaT, Ushiba]

Abstract:
We measured the PLANT of GAS filters of ITMX from Miyo-kun's code.
Then, we implemented GAS damping at F0 and GAS DC controls at all stages.
All can be engaged from guardian now.

Detail:
First, we checked the signs of COILOUTF and found that F0 COILOUTF has opposite sign from the others (see fig 1, 2,3, 4, and 5).
So, we changed the sign of F0 COILOUTF from -1 to 1.
Now, all calibrated GAS LVDT signals (K1:VIS-ITMX_{F0,F1,F2,F3,BF}_LVDTINF_GAS_OUT) increase when applying positive signals at inputs of COILOUTF(K1:VIS-ITMX_{F0,F1,F2,F3,BF}_COILOUTF_GAS_IN1).

To design the DC control filters of GAS, GAS PLANTs were measured by Miyo-kun's code.
Measurement results are stored in /kagra/Dropbox/Measurements/VIS/PLANT/.
File names are PLANT_STANDBY_ITMX_GAS_TEST_{F0,F1,F2,F3,BF}_1189.xml

After the measurement, we designed the filters and implemented at GAS_DAMP filter banks.
For F0, the filter was designed as 0.01Hz UGF DC control and damping (see fig6).
For the other stages (F1, F2, F3, and BF), the filters were designed as 0.01Hz UGF DC control.

After checking the performance of the control, Yamamoto-kun modified the guardian and now all controls can be engaged from the guardian (ENGAGE_GAS).

Note:
*We forgot to change the sign of F COILOUTF gain, the phase of measured PLANT of F0 GAS is 180 degrees at DC.
*BF GAS is very stiff compared with the other GAS filters (DC gain is -70 dB for BF GAS while the others are about -50 dB or more, see fig7).
*F2 has a strange behaviour when sweep the F2 GAS position (see fig8). Did it mechanically hit somewhere when LVDT signal of F2 is at 1270 counts?