NAOMI control loop model. The incident wavefront W is compensated for by the command C applied on the DM. The residual wavefront R is averaged over the integration time T_i by the WFS, delayed by T_d, integrated by a controller with a gain K_I, and converted into commands C by an digital-to-analog converter (DAC). The cycle time T_c is the inverse of the loop frequency. The pure delay T_d includes contributions from the camera frame transfer and readout time, the RTC computation time, and the DM response time. The Laplace transform of each idealised operation is shown above its respective block.