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Adaptive optics provides real time correction of wavefront disturbances on ground based telescopes. Optimizing control and performance is a key issue for ever more demanding instruments on ever larger telescopes affected not only by atmospheric turbulence, but also by vibrations, windshake and tracking errors. Linear Quadratic Gaussian control achieves optimal correction when provided with a temporal model of the disturbance. We present in this paper the first on-sky results of a Kalman filter based LQG control with vibration mitigation on the CANARY instrument at the Nasmyth platform of the 4.2-m William Herschel Telescope. The results demonstrate a clear improvement of performance for full LQG compared with standard integrator control, and assess the additional improvement brought by vibration filtering with a tip-tilt model identified from on-sky data, thus validating the strategy retained on the instrument SPHERE at the VLT.

Noise effects induced by laser guide star (LGS) elongation have to be considered globally in a multi-LGS tomographic reconstruction analysis. This allows a fine estimation of performance and the comparison of different launching options. We present a modal analysis of the wavefront error with Shack-Hartmann wavefront sensors based on quasi-analytical matrix formalism. Including spot elongation and the Rayleigh fratricide effect, edge launching produces similar performance to central launching and avoids the risk of possible underestimation of fratricide scatter. Performance improves slightly with an optimized centroid estimator and is not affected by a slight field-of-view truncation of the subapertures. Finally we discuss detector characteristics for a LGS Shack-Hartmann wavefront sensor.

In this paper we investigate the behavior of various centroiding methods (weighted center of gravity, matched filtering, and correlation) classically used in Shack-Hartmann wavefront sensing when dealing with an elongated asymmetric spot. We study the impact of model errors on these centroiding methods at high signal-to-noise ratios, and, using a one-dimensional formalism, we show that the associated estimates all suffer from a bias uncorrelated with the actual spot displacement if its shape is not known precisely. Additionally, we show that the correlation method provides an estimate with a unitary gain whatever the parameters used, while the other two methods introduce a non-unitary gain in the estimation process. Finally, we show that the sampling of the spot structures after filtering by some convolution kernels is crucial to get an unbiased estimate of the spot displacement.