Adaptive cascaded beam-based feedback at the SLC

The SLAC Linear Collider now has a total of twenty-four beam-steering feedback loops used to keep the electron and positron beams on their desired trajectories. Seven of these loops measure and control the same beam as it proceeds down the linac through the arcs to the final focus. Ideally each loop should correct only for disturbances that occur between it and the immediate upstream loop. In fact, in the original system each loop corrected for all upstream disturbances. This resulted in undesirable overcorrection and ringing. We added MIMO (Multiple Input Multiple Output) adaptive noise cancellers to separate the signal we wish to correct from disturbances further up stream. This adaptive control improved performance in the 1992 run