Jamie, Kiwamu

We tried engaging isolation loops in the stage 1 of ITMX ISI, but kept failing for some reason. In both robust- and high- isolation cases, we saw L4Cs ringing up at 10 Hz at the end of the auto-isolation processes and tripping the watchdog.

Checking each step of the guardian isolation process, we finally found that the instability was due to the X isolation loop. In particular, every time when it engages the 3rd boost, this makes the system unstable. Even though, we don't really know what the loop shape is for the X direction, we tried different gains in order to find a OK-stable gain. We ended up with a gain factor of 2. This seems to give us a OK-ish ISI performance in ITMX ISI. We did not try engaging the stage 2 isolation loops.