diff --git a/inkscape/root_locus_iff_kps.svg b/inkscape/root_locus_iff_kps.svg
index c1e0c33..c2d7db9 100644
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diff --git a/inkscape/rotating_xy_platform.pdf b/inkscape/rotating_xy_platform.pdf
deleted file mode 100644
index 79d7b98..0000000
Binary files a/inkscape/rotating_xy_platform.pdf and /dev/null differ
diff --git a/inkscape/rotating_xy_platform_springs.pdf b/inkscape/rotating_xy_platform_springs.pdf
deleted file mode 100644
index ca5b9d1..0000000
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diff --git a/inkscape/system.svg b/inkscape/system.svg
new file mode 100644
index 0000000..68688e6
--- /dev/null
+++ b/inkscape/system.svg
@@ -0,0 +1,304 @@
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diff --git a/inkscape/system_dvf.pdf b/inkscape/system_dvf.pdf
new file mode 100644
index 0000000..8236641
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diff --git a/inkscape/system_dvf.svg b/inkscape/system_dvf.svg
new file mode 100644
index 0000000..f76bc24
--- /dev/null
+++ b/inkscape/system_dvf.svg
@@ -0,0 +1,346 @@
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diff --git a/inkscape/system_force_sensors.pdf b/inkscape/system_force_sensors.pdf
new file mode 100644
index 0000000..e44031e
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diff --git a/inkscape/system_force_sensors.svg b/inkscape/system_force_sensors.svg
new file mode 100644
index 0000000..bfc1574
--- /dev/null
+++ b/inkscape/system_force_sensors.svg
@@ -0,0 +1,308 @@
+
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diff --git a/inkscape/rotating_xy_platform.svg b/inkscape/system_iff.svg
similarity index 86%
rename from inkscape/rotating_xy_platform.svg
rename to inkscape/system_iff.svg
index c632df0..a9d3d08 100644
--- a/inkscape/rotating_xy_platform.svg
+++ b/inkscape/system_iff.svg
@@ -66,13 +66,13 @@
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diff --git a/inkscape/system_parallel_springs.pdf b/inkscape/system_parallel_springs.pdf
new file mode 100644
index 0000000..58e3e7a
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diff --git a/inkscape/rotating_xy_platform_springs.svg b/inkscape/system_parallel_springs.svg
similarity index 91%
rename from inkscape/rotating_xy_platform_springs.svg
rename to inkscape/system_parallel_springs.svg
index cc0e6bc..6ab3e07 100644
--- a/inkscape/rotating_xy_platform_springs.svg
+++ b/inkscape/system_parallel_springs.svg
@@ -95,15 +95,6 @@
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diff --git a/matlab/index.org b/matlab/index.org
index 2aab64c..95aafd7 100644
--- a/matlab/index.org
+++ b/matlab/index.org
@@ -2475,16 +2475,6 @@ The obtained damping ratio and control are shown below.
Kiff = opt_gain_iff/(wi + s)*tf(eye(2));
#+end_src
-#+begin_src matlab
- %% Name of the Simulink File
- mdl = 'rotating_frame';
-
- %% Input/Output definition
- clear io; io_i = 1;
- io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
- io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
-#+end_src
-
#+begin_src matlab
Tiff = linearize(mdl, io, 0);
@@ -2507,16 +2497,6 @@ The obtained damping ratio and control are shown below.
Kdvf = tf(zeros(2));
#+end_src
-#+begin_src matlab
- %% Name of the Simulink File
- mdl = 'rotating_frame';
-
- %% Input/Output definition
- clear io; io_i = 1;
- io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
- io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
-#+end_src
-
#+begin_src matlab
Tiff_kp = linearize(mdl, io, 0);
@@ -2537,16 +2517,6 @@ The obtained damping ratio and control are shown below.
Kdvf = opt_gain_kp*tf(eye(2));
#+end_src
-#+begin_src matlab
- %% Name of the Simulink File
- mdl = 'rotating_frame';
-
- %% Input/Output definition
- clear io; io_i = 1;
- io(io_i) = linio([mdl, '/dw'], 1, 'input'); io_i = io_i + 1;
- io(io_i) = linio([mdl, '/Meas'], 1, 'output'); io_i = io_i + 1;
-#+end_src
-
#+begin_src matlab
Tdvf = linearize(mdl, io, 0);