diff --git a/X_tal_cage_PID.dat b/X_tal_cage_PID.dat
deleted file mode 100644
index c915b55..0000000
--- a/X_tal_cage_PID.dat
+++ /dev/null
@@ -1,2 +0,0 @@
-5.162191577102395387e-03 -2.053193047675045887e-02 3.437100092354096470e-02 -3.190511345800899762e-02 1.825561277900273824e-02 -6.730753847845586182e-03 1.609313664393750756e-03 -2.418167184233736648e-04 2.080021948522915606e-05 -7.826806603216290806e-07
-1.000000000000000000e+00 -3.972465476658959549e+00 6.626337189494686086e+00 -6.128136890264569203e+00 3.494831182648804546e+00 -1.284884631665979438e+00 3.064788332575871244e-01 -4.595824894480127903e-02 3.946314534021262352e-03 -1.482724007899167095e-04
diff --git a/X_tal_cage_PID_20Hz.dat b/X_tal_cage_PID_20Hz.dat
deleted file mode 100644
index 2b1c2c2..0000000
--- a/X_tal_cage_PID_20Hz.dat
+++ /dev/null
@@ -1,2 +0,0 @@
-0.000000000000000000e+00 5.123345318801274849e-08 4.465059381121026680e-07 -5.539687913181512777e-07 -2.501743723287252284e-07 4.670510404558542367e-07 -1.815336333351060151e-07 2.192959428607522490e-08 1.252880670660841008e-09 -3.204886304414573431e-10
-1.000000000000000000e+00 -6.060746556447895728e+00 1.578415410735246915e+01 -2.307024251152614625e+01 2.074784976168569983e+01 -1.185054476238084575e+01 4.286436819918846730e+00 -9.472094817634837405e-01 1.163875141380739525e-01 -6.084890976718200159e-03
diff --git a/X_tal_cage_PID_40Hz.dat b/X_tal_cage_PID_40Hz.dat
deleted file mode 100644
index 0056390..0000000
--- a/X_tal_cage_PID_40Hz.dat
+++ /dev/null
@@ -1,2 +0,0 @@
-0.000000000000000000e+00 3.916109097006016097e-07 2.515883048071752841e-06 -1.090504899940038926e-05 1.026142643551294789e-05 4.402028213713516958e-06 -1.146749093764098578e-05 5.276493222335721915e-06 -3.762905854779865629e-07 -9.858859748285918252e-08
-1.000000000000000000e+00 -8.082077716891920005e+00 2.883885831460112215e+01 -5.954352319604579691e+01 7.824427684619810464e+01 -6.768295458210708659e+01 3.839583227756439499e+01 -1.369753827515415878e+01 2.763766524255220958e+00 -2.366401924198855977e-01
diff --git a/figs b/figs
new file mode 120000
index 0000000..f6b864b
--- /dev/null
+++ b/figs
@@ -0,0 +1 @@
+matlab/figs
\ No newline at end of file
diff --git a/matlab/figs b/matlab/figs
deleted file mode 120000
index 8ea5186..0000000
--- a/matlab/figs
+++ /dev/null
@@ -1 +0,0 @@
-../figs
\ No newline at end of file
diff --git a/figs/bode_plot_cur_controller.pdf b/matlab/figs/bode_plot_cur_controller.pdf
similarity index 100%
rename from figs/bode_plot_cur_controller.pdf
rename to matlab/figs/bode_plot_cur_controller.pdf
diff --git a/figs/bode_plot_cur_controller.png b/matlab/figs/bode_plot_cur_controller.png
similarity index 100%
rename from figs/bode_plot_cur_controller.png
rename to matlab/figs/bode_plot_cur_controller.png
diff --git a/figs/bode_plot_dcm_dynamics.pdf b/matlab/figs/bode_plot_dcm_dynamics.pdf
similarity index 100%
rename from figs/bode_plot_dcm_dynamics.pdf
rename to matlab/figs/bode_plot_dcm_dynamics.pdf
diff --git a/figs/bode_plot_dcm_dynamics.png b/matlab/figs/bode_plot_dcm_dynamics.png
similarity index 100%
rename from figs/bode_plot_dcm_dynamics.png
rename to matlab/figs/bode_plot_dcm_dynamics.png
diff --git a/figs/bode_plot_ident_noise.pdf b/matlab/figs/bode_plot_ident_noise.pdf
similarity index 100%
rename from figs/bode_plot_ident_noise.pdf
rename to matlab/figs/bode_plot_ident_noise.pdf
diff --git a/figs/bode_plot_ident_noise.png b/matlab/figs/bode_plot_ident_noise.png
similarity index 100%
rename from figs/bode_plot_ident_noise.png
rename to matlab/figs/bode_plot_ident_noise.png
diff --git a/figs/coherence_id_dcm_dyn.pdf b/matlab/figs/coherence_id_dcm_dyn.pdf
similarity index 100%
rename from figs/coherence_id_dcm_dyn.pdf
rename to matlab/figs/coherence_id_dcm_dyn.pdf
diff --git a/figs/coherence_id_dcm_dyn.png b/matlab/figs/coherence_id_dcm_dyn.png
similarity index 100%
rename from figs/coherence_id_dcm_dyn.png
rename to matlab/figs/coherence_id_dcm_dyn.png
diff --git a/figs/coherence_ident_noise.pdf b/matlab/figs/coherence_ident_noise.pdf
similarity index 100%
rename from figs/coherence_ident_noise.pdf
rename to matlab/figs/coherence_ident_noise.pdf
diff --git a/figs/coherence_ident_noise.png b/matlab/figs/coherence_ident_noise.png
similarity index 100%
rename from figs/coherence_ident_noise.png
rename to matlab/figs/coherence_ident_noise.png
diff --git a/figs/loci_loop_gain_comp_controllers.pdf b/matlab/figs/loci_loop_gain_comp_controllers.pdf
similarity index 100%
rename from figs/loci_loop_gain_comp_controllers.pdf
rename to matlab/figs/loci_loop_gain_comp_controllers.pdf
diff --git a/figs/loci_loop_gain_comp_controllers.png b/matlab/figs/loci_loop_gain_comp_controllers.png
similarity index 100%
rename from figs/loci_loop_gain_comp_controllers.png
rename to matlab/figs/loci_loop_gain_comp_controllers.png
diff --git a/figs/loop_gain_compare.pdf b/matlab/figs/loop_gain_compare.pdf
similarity index 100%
rename from figs/loop_gain_compare.pdf
rename to matlab/figs/loop_gain_compare.pdf
diff --git a/figs/loop_gain_compare.png b/matlab/figs/loop_gain_compare.png
similarity index 100%
rename from figs/loop_gain_compare.png
rename to matlab/figs/loop_gain_compare.png
diff --git a/figs/loop_gain_compare_added_gain.pdf b/matlab/figs/loop_gain_compare_added_gain.pdf
similarity index 100%
rename from figs/loop_gain_compare_added_gain.pdf
rename to matlab/figs/loop_gain_compare_added_gain.pdf
diff --git a/figs/loop_gain_compare_added_gain.png b/matlab/figs/loop_gain_compare_added_gain.png
similarity index 100%
rename from figs/loop_gain_compare_added_gain.png
rename to matlab/figs/loop_gain_compare_added_gain.png
diff --git a/figs/loop_gain_dcm_contr_simple.pdf b/matlab/figs/loop_gain_dcm_contr_simple.pdf
similarity index 100%
rename from figs/loop_gain_dcm_contr_simple.pdf
rename to matlab/figs/loop_gain_dcm_contr_simple.pdf
diff --git a/figs/loop_gain_dcm_contr_simple.png b/matlab/figs/loop_gain_dcm_contr_simple.png
similarity index 100%
rename from figs/loop_gain_dcm_contr_simple.png
rename to matlab/figs/loop_gain_dcm_contr_simple.png
diff --git a/figs/loop_gain_diag_old_new_contr.pdf b/matlab/figs/loop_gain_diag_old_new_contr.pdf
similarity index 100%
rename from figs/loop_gain_diag_old_new_contr.pdf
rename to matlab/figs/loop_gain_diag_old_new_contr.pdf
diff --git a/figs/loop_gain_diag_old_new_contr.png b/matlab/figs/loop_gain_diag_old_new_contr.png
similarity index 100%
rename from figs/loop_gain_diag_old_new_contr.png
rename to matlab/figs/loop_gain_diag_old_new_contr.png
diff --git a/figs/noise_budget_no_mov_asd.pdf b/matlab/figs/noise_budget_no_mov_asd.pdf
similarity index 100%
rename from figs/noise_budget_no_mov_asd.pdf
rename to matlab/figs/noise_budget_no_mov_asd.pdf
diff --git a/figs/noise_budget_no_mov_asd.png b/matlab/figs/noise_budget_no_mov_asd.png
similarity index 100%
rename from figs/noise_budget_no_mov_asd.png
rename to matlab/figs/noise_budget_no_mov_asd.png
diff --git a/figs/noise_budget_no_mov_cas.pdf b/matlab/figs/noise_budget_no_mov_cas.pdf
similarity index 100%
rename from figs/noise_budget_no_mov_cas.pdf
rename to matlab/figs/noise_budget_no_mov_cas.pdf
diff --git a/figs/noise_budget_no_mov_cas.png b/matlab/figs/noise_budget_no_mov_cas.png
similarity index 100%
rename from figs/noise_budget_no_mov_cas.png
rename to matlab/figs/noise_budget_no_mov_cas.png
diff --git a/figs/nyquist_after_gain_frequency.pdf b/matlab/figs/nyquist_after_gain_frequency.pdf
similarity index 100%
rename from figs/nyquist_after_gain_frequency.pdf
rename to matlab/figs/nyquist_after_gain_frequency.pdf
diff --git a/figs/nyquist_after_gain_frequency.png b/matlab/figs/nyquist_after_gain_frequency.png
similarity index 100%
rename from figs/nyquist_after_gain_frequency.png
rename to matlab/figs/nyquist_after_gain_frequency.png
diff --git a/figs/nyquist_compare.pdf b/matlab/figs/nyquist_compare.pdf
similarity index 100%
rename from figs/nyquist_compare.pdf
rename to matlab/figs/nyquist_compare.pdf
diff --git a/figs/nyquist_compare.png b/matlab/figs/nyquist_compare.png
similarity index 100%
rename from figs/nyquist_compare.png
rename to matlab/figs/nyquist_compare.png
diff --git a/figs/sensitivity_comp.pdf b/matlab/figs/sensitivity_comp.pdf
similarity index 100%
rename from figs/sensitivity_comp.pdf
rename to matlab/figs/sensitivity_comp.pdf
diff --git a/figs/sensitivity_comp.png b/matlab/figs/sensitivity_comp.png
similarity index 100%
rename from figs/sensitivity_comp.png
rename to matlab/figs/sensitivity_comp.png
diff --git a/figs/sensitivity_function_compare.pdf b/matlab/figs/sensitivity_function_compare.pdf
similarity index 100%
rename from figs/sensitivity_function_compare.pdf
rename to matlab/figs/sensitivity_function_compare.pdf
diff --git a/figs/sensitivity_function_compare.png b/matlab/figs/sensitivity_function_compare.png
similarity index 100%
rename from figs/sensitivity_function_compare.png
rename to matlab/figs/sensitivity_function_compare.png
diff --git a/figs/sensitivity_function_drx_est.pdf b/matlab/figs/sensitivity_function_drx_est.pdf
similarity index 100%
rename from figs/sensitivity_function_drx_est.pdf
rename to matlab/figs/sensitivity_function_drx_est.pdf
diff --git a/figs/sensitivity_function_drx_est.png b/matlab/figs/sensitivity_function_drx_est.png
similarity index 100%
rename from figs/sensitivity_function_drx_est.png
rename to matlab/figs/sensitivity_function_drx_est.png
diff --git a/figs/sensitivity_new_gain_compare.pdf b/matlab/figs/sensitivity_new_gain_compare.pdf
similarity index 100%
rename from figs/sensitivity_new_gain_compare.pdf
rename to matlab/figs/sensitivity_new_gain_compare.pdf
diff --git a/figs/sensitivity_new_gain_compare.png b/matlab/figs/sensitivity_new_gain_compare.png
similarity index 100%
rename from figs/sensitivity_new_gain_compare.png
rename to matlab/figs/sensitivity_new_gain_compare.png