Local control on END mirror were implemented.

Pic 1 Pitch TF

Pic 2 YawTF

Pic 3 Comparison between open and closed loop spectra.

Pic 4, 5 photon model and damp for pitch  

Pic 6, 7 photon model and damp for yaw

I found a minimum of the sensing coupling when input signals (pitch and yaw) are rotated of -0.06 rad. So I updated accordingly the rotation matrix.

I used the following driving matrix  (pitch, yaw -> coils)   [0, 1, 0, 1; 1 0 -1, 1].  Note that the coil disposition is not the usual one!

For a comparison with the old control check entry #238.