In preparation to correcting the Matrices on HEPI for HAM2, I generated new Plants to see if they'll be too different for the generic controllers.  Here are the Symmeterized L2L & C2C,the latter equivalent to the plant with a HEPI Position loop blend (1,0.)  The L2Ls are the same as the previous (data from 4 Sept 2013) since I did not collect new data.  But the C2C are different.  Attached are two pdf with all the plots to compare.

Bottom line--asside from the VP dof at DC, they all look pretty much the same and I think the generic loops will be fine.