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Merge pull request #169 from htimko/spsff

SPS OTFB and FF model

**Updated SPS OTFB model with new features**

- beam-induced voltage: replace semi-analytic model by signal processing model for consistency
- fine and coarse grid implementations of induced voltages
- in matrix convolution, use mode='full'
- turn-by-turn updating of parameters in update_variables()
- impulse response: rotation of arrays when off frequency
- reviewed sampling
- reviewed phase shift accumulation for beam-feedback compatibility (moved from beam_feedback to tracker)
- change order of delay and modulation
- class clean-up
- new unittests and updated benchmarks

New: optional embedded feed-forward

- FIR filter design routine
- filter design for SPS 3-, 4-, and 5- section cavities (fixed coefficients)
- optional enabling of FF in SPS OTFB on beam-induced voltage branch
- benchmarks and unittests

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