The Advanced LIGO detectors are sophisticated opto-mechanical devices. At the
core of their operation is feedback control. The Advanced LIGO project
developed a custom digital control and data acquisition system to handle the
unique needs of this new breed of astronomical detector. The advligorts is the
software component of this system. This highly modular and extensible system
has enabled the unprecedented performance of the LIGO instruments, and has been
a vital component in the direct detection of gravitational waves
