[rfc] - WAND lock control loop gain

[Jemetzner]

After reviewing the lock method code have discovered that the control loop has the gain set by the product of the set gain and the poll time. This would seem to suggest this is a integrative term, but would only seem to make sense in the limit of a very slowly converging lock.

I have calibrated our laser controllers to get a proper gain factor and turned this control loop into a simple proportional term by removing this poll time factor. We were hoping that there might be some clarification for why this was the method that was used and if there is a interest to improve the lock to make a proper integrator term.

[hartytp]

This would seem to suggest this is a integrative term, but would only seem to make sense in the limit of a very slowly converging lock.
I have calibrated our laser controllers to get a proper gain factor and turned this control loop into a simple proportional term by removing this poll time factor. We were hoping that there might be some clarification for why this was the method that was used and if there is a interest to improve the lock to make a proper integrator term.

Yes, currently there is only an integrator, designed for relatively slow feedback loops.

wand/wand/frontend/wand_server.py

Line 237 in 492e0ba

V_error = f_error * gain

I don't think I understand your question. Can you explain what you think a "proper integrator term" and "simple proportional term" would look like in this context?