Please check for JGW-T2112874 for a newer version of the optical lever sensing matrix https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/private/DocDB/ShowDocument?docid=12874.
We modified the suspension model to have a new control topology that resembles a classical PID control without proportional control. We installed the displacement sensing mechanism for the suspended optic and have diagonalized the signal to a satisfying level.