Attached is the plot for a number of controllers calculated by buzz for the ASC DHARD Yaw DOF. The plot's axis represent the total RMS on the Y-axis in Radians and a weighted RMS on the X-axis that is proportional to the BNS detection range. This is just an estimate using the square of the BNS FOM that I was using previously. The number by each point represents the phase margin of each controller. The outline color is also supposed to represent this but there is some bug that gets the colors slightly wrong from the scale. I will get to fixing this. A recent hand tuned controller is also present for comparison. The plot was calibrated using the 5.2e-11 rad/ct from Elenna's Alog post on ASC Calibration. The hand tuned controller shows an RMS of approximately 1.6 nrad RMS. given that our model represents is modeling a day with higher than normal low frequency noise this compares favorably with the 0.36 nrad RMS measured recorded in the same post by Elenna. This indicates that our model is a good representation of the system, at least in this limited way. Given the calibration it is possible to get a controller that with similar phase margin with an order of magnitude less overall RMS.

The next step is to add the updated BNS FOM so that the BNS RMS value has a physical representation. Currently it seems that the updated BNS FOM causes problems with the current solver.