diff --git a/mat/K_diag.mat b/mat/K_diag.mat
new file mode 100644
index 0000000..dc2a0e5
Binary files /dev/null and b/mat/K_diag.mat differ
diff --git a/mat/data_rep_1.mat b/mat/data_rep_1.mat
new file mode 100644
index 0000000..6c7e443
Binary files /dev/null and b/mat/data_rep_1.mat differ
diff --git a/mat/plant.mat b/mat/plant.mat
index 8d28f0c..094d280 100644
Binary files a/mat/plant.mat and b/mat/plant.mat differ
diff --git a/matlab/setup.m b/matlab/setup.m
new file mode 100644
index 0000000..1b29266
--- /dev/null
+++ b/matlab/setup.m
@@ -0,0 +1,3 @@
+Ts = 1e-4; % [s]
+load('../mat/plant.mat');
+load('../mat/K_diag.mat');
\ No newline at end of file
diff --git a/run_test.m b/run_test.m
index 196ef35..683ac28 100644
--- a/run_test.m
+++ b/run_test.m
@@ -90,7 +90,7 @@ ylabel('Distance [m]');
 legend();
 
 %% Save
-save('mat/data_cal_pd_v.mat', 't', 'Uch', 'Ucv', ...
+save('mat/data_rep_1.mat', 't', 'Uch', 'Ucv', ...
                              'Unh', 'Unv', ...
                              'Vph', 'Vpv', ...
                              'Vch', 'Vcv', ...
diff --git a/setup.m b/setup.m
deleted file mode 100644
index 97489ad..0000000
--- a/setup.m
+++ /dev/null
@@ -1 +0,0 @@
-Ts = 1e-4; % [s]
\ No newline at end of file
diff --git a/test_cercalo.slx b/test_cercalo.slx
index e884b87..772265a 100644
Binary files a/test_cercalo.slx and b/test_cercalo.slx differ