Control technology lessons learned: case study using the micro-precision interferometer testbed

This paper presents a partial account of control lessons learned during the development of the micro-precision interferometer testbed. These lessons came about through the design, implementation and test of a specific testbed control system. However, the described lessons are not specific to the application. The topics range from global aspects like how to measure system performance to detailed compensator implementation issues. All of the insights presented would not have been reached without taking this hardware step.