Interferometer design of the KAGRA gravitational wave detector

KAGRA is a cryogenic interferometric gravitational wave detector being constructed at the underground site of Kamioka mine in Gifu prefecture, Japan. We performed an optimization of the interferomter design, to achieve the best sensitivity and a stable operation, with boundary conditions of classical noises and under various practical constraints, such as the size of the tunnel or the mirror cooling capacity. Length and alignment sensing schemes for the robust control of the interferometer are developed. In this paper, we describe the detailed design of the KAGRA interferometer as well as the reasoning behind design choices.