Similar work with klog36755.

Abstract:

I implemented GAS modal damping for SR2.
They seems to wrok well, so they can be implemented into the guardian but not yet to be done.

Detail:

I decoupled the sensors and actuators with the same manner with SR3.
Figure 1 and 2 show the sensor and actuator matrices, respectively.
Figure 3-5 show the suspension plants at modal basis.
Figure 6-8 show the OLTF of modal damping control loops.

Figure 9 shows the spectrum comparison of IMV OSEM with LOCK_ACQUISITION state (blue), OBSERVATION state (green), and modal damping (brown).
The noise above 0.5 Hz can be reduced by using modal damping, so the modal damping seems to work well.

Due to the large earthquake, I gave up to implement them into the guardian today.