NAOMI control loop block diagram. The image stream from the WFS is converted into sub-aperture slope residuals by the WPU. The slope residuals are converted into mode residuals by matrix vector multiplication with the S2M matrix. Operating in parallel, the broad-band IIR and the AVC convert the mode residuals into a combined DM modal command when the control loop is closed. When chopping, a DM pre-tilt is added in the “star” state, and the DM is offset to in the “sky” state. The DM modal command is converted into actuator voltages by matrix vector multiplication with the M2DM matrix. The S2M matrix is rotated by θ_WFS/DM to keep the modes aligned with the DM. The chopping offset and pre-tilt are rotated by θ_DM/SKY to keep the chopping direction fixed on sky. To compensate for the temperature dependance of the DM, the M2DM matrix is scaled by the DM temperature T_DM.