diff --git a/index.org b/index.org
index e778e59..ede9ad5 100644
--- a/index.org
+++ b/index.org
@@ -1,12 +1,90 @@
-#+TITLE:Test of Cercalo
+#+TITLE: Cercalo Test Bench
 :DRAWER:
 #+STARTUP: overview
-#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
+
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
 
 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
-#+PROPERTY: header-args:matlab+ :results output
+#+PROPERTY: header-args:matlab+ :results none
 #+PROPERTY: header-args:matlab+ :exports both
 #+PROPERTY: header-args:matlab+ :eval no-export
 #+PROPERTY: header-args:matlab+ :output-dir figs
+#+PROPERTY: header-args:matlab+ :tangle matlab/frf_processing.m
+#+PROPERTY: header-args:matlab+ :mkdirp yes
 :END:
+
+
+* Matlab Init                                               :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+* Identification of the Plant
+#+begin_src matlab
+  fs = 1e4;
+  Ts = 1/fs;
+#+end_src
+
+We generate white noise with the "random number" simulink block, and we filter that noise.
+
+#+begin_src matlab
+  Gi = (1)/(1+s/2/pi/100);
+#+end_src
+
+#+begin_src matlab :results output replace
+  c2d(Gi, Ts, 'tustin')
+#+end_src
+
+#+RESULTS:
+#+begin_example
+c2d(Gi, Ts, 'tustin')
+
+ans =
+
+  0.030459 (z+1)
+  --------------
+    (z-0.9391)
+
+Sample time: 0.0001 seconds
+Discrete-time zero/pole/gain model.
+#+end_example
+
+#+begin_src matlab
+  load('mat/data_001.mat', 't', 'ux')
+#+end_src
+
+#+begin_src matlab
+  figure; plot(t, ux)
+#+end_src
+
+#+begin_src matlab
+  [tf_est, freqs] = tfestimate(ux, yx, hanning(ceil(length(ux)/10)), [], [], fs);
+
+  % h = idfrd(tf_est, freqs*2*pi, Ts);
+#+end_src
+
+#+begin_src matlab
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(freqs, abs(tf_est),'--')
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]');
+hold off;
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(freqs, mod(180+180/pi*phase(tf_est), 360)-180,'--')
+set(gca,'xscale','log');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+xlabel('Frequency [$Hz$]'); ylabel('Phase [deg]');
+hold off;
+#+end_src