5.17.10

Now that I can identify simple disturbance models from open-loop data, I'd like to try designing an optimal controller using the identified system. I think it should work out in simulation, but ideally I'll be able to implement it in the experiment and see some results. This is actually much more simple than using actual wavefronts and doing a multichannel problem; since the plant is particularly simple (with a slow enough sampling time), the optimal controller should do a pretty good job.

1. Make sure models can be id'ed using the disturbance model, probably using the 61 actuator modes constructed using the poke matrix.

2. Ignore the PI controller for now? Try to apply disturbances while the integrator is running and see what the results look like.

3. Come up with a script that calculates the optimal controller structure using the controller SS model. First by solving a WH problem, then also by solving a finite time LQR problem. Results should be the same with each.

4. Apply the controller in simulation and in the experiment if all goes well.

5. ....?

6. Profit.

The one wrinkle in all this it that controller and disturbance DM are using different sets of modes, so I have to think about the best way to unify them. Ultimately, I suspect I'll end up using the DM61 modes for generating disturbances, but since that process is basically opaque from the controller's perspective, all the ID and control will be done on the basis of the DM31 modes.