Bench residual aberration compensation in a closed loop with the pupil distortion correction and a filter of 115 c/p. Top row: wavefront measurements obtained with ZELDA at iterations 0 (initial aberration), 3, and 7. Bottom plot: OPD standard deviation in the pupil as a function of iteration number and for various values of filtering. A filter value of 20 c/p (orange) simulates a VLT/SPHERE-like DM cutoff filter. For each measurement, the global tip and tilt are subtracted.