Position loops were installed on HAM3-HEPI last week. UUG is 2Hz.

I installed the same controllers on HAM2 HEPI this morning. The phase margin is really high (above 60 degrees on every degree of freedom), so we can certainly raise the UUG and thus, push the performance.

Performance spectra were collected. They are attached to this post.

Controllers and simulations are also attached.

Spectra saved under the svn at:
SeiSVN/seismic/HEPI/H1/HAM2/Misc/DTT_Plots/
 - 2013_10_08_HAM2_HEPI_Pos_Loops_Perf.xml
 - 2013_10_08_HAM2_HEPI_Pos_Loops_Perf.pdf
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