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Make UIM/PUM more like TST actuation with driver electronics zeros and poles

Evan Goetz requested to merge evan-goetz/pydarm:sus-update-L1-L2 into master

Make UIM/PUM more like TST actuation with driver electronics zeros and poles for each quadrant and compensation for each quadrant.

This also expanded the TST compensation for each quadrant since before it was supposed to be a single compensation transfer function

Addresses #65 (closed)

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