Alexa, Rana, Keita, Kiwamu, Sheila, Jeff

Today we worked on more robust prmi sideband locking.  After the coil driver swap, alog 13956, and the required model changes alog 13958 we changed our PRC loop. We are now acquiring with just M3 on PRM, and it is easier.  We also reworked our locking filter for PRCL, to give us more gain at low frequencies and more phase margin at 80 Hz.  A comparision of the old filter (FM7) and the new one (FM9) is shown on the right hand side of the first attached screen shot. 
Also shown are the open loop gains of both MICH and PRCL. 

The second attached screen shot shows the configuration that has been locking pretty robustly, with the exception of the power normalization, which we have off when we are acquiring lock. The guardian has been updated to fit this configuration.