Matt, Stefan, Jennie W

Overall: We adjusted the OMC input matrix resulting in a factor of ten reduction in the OMC suspension drive.

The procedure is as follows:
1) Start by calculating the sensing matrix which maps OM3 and OMC degrees of freedom to QPD A and B changes for one of the suspension degrees of freedom (pitch or yaw).

2) Calculate the inverse of the sensing matrix, which will give you a possible input matrix, mapping QPDA and B changes to OM3 and OMC changes which we use for feedback. The first row of the matrix maps only to OM3, for example, which we chose to be our primary degree of freedom with the higher bandwidth. The trouble we were finding before is that the inverse of our sensing matrix yields a strong degeneracy between the two degrees of freedom, and so we push our second row in the direction that cancels most of the noise in the error signal, and also reduces the degeneracy between the error signals.

This procedure can then be repeated for the other degree of freedom (pitch or yaw).

The results of the noise reduction can be seen in the time domain as well.