ITMY now has two HEPI controllers installed (both of which work I think)

Control Level one is a positon sensor only ~5Hz UUG  in all DOF (VP and HP are AC coupled at some low frequency (<1mhz))

Control Level two, uses the second set of blend filters (lil bit iso) just the second button and has ~10Hz UUG (5Hz for VP and HP)

  It blends X,Y Z and rZ at about  0.5Hz  and rX and rY at about 0.8Hz

  I tried to design with minimum gain peaking every where (< a factor of two if you believe  linear control theory, which HEPI doesn't always)

  I characterized this controller in /ligo/svncommon/Seisvn/seismic/HEPI/H1/ITMY/Data/Spectra/Preformance_A.xml

There are three screen shots from this dtt attached, the Ref plots are with HEPI controls ON

The orange like color  and green are the ISI stage 1 T240 modal signals HEPI on/off

The pinkish  or grey and blue are the HEPI L4C signals on/off

red and pinkish are sts2 ground signals during the two tests

I don't really believe all of that isolation in the rotational directions, not sure why it is there .....

  **** the HEPI on script doesn't seem to be working so well hopefully this will get fixed soon ****