diff --git a/modal-analysis/figs/compare_original_meas_with_recovered.png b/modal-analysis/figs/compare_original_meas_with_recovered.png
new file mode 100644
index 0000000..7f5a200
Binary files /dev/null and b/modal-analysis/figs/compare_original_meas_with_recovered.png differ
diff --git a/modal-analysis/modes_analysis.html b/modal-analysis/modes_analysis.html
index c03bdfb..e419250 100644
Binary files a/modal-analysis/modes_analysis.html and b/modal-analysis/modes_analysis.html differ
diff --git a/modal-analysis/modes_analysis.org b/modal-analysis/modes_analysis.org
index ddf8d9b..37b230f 100644
--- a/modal-analysis/modes_analysis.org
+++ b/modal-analysis/modes_analysis.org
@@ -733,6 +733,7 @@ We here sum the norm instead of the complex numbers.
 * Compare global coordinates to local coordinates
 #+begin_src matlab
   solid_i = 1;
+  acc_dir_O = 6;
   acc_dir = 3;
   exc_dir = 3;
 
@@ -743,7 +744,7 @@ We here sum the norm instead of the complex numbers.
   for i = solids.(solid_names{solid_i})
     plot(freqs, abs(squeeze(FRFs(acc_dir+3*(i-1), exc_dir, :))));
   end
-  plot(freqs, abs(squeeze(FRFs_O((solid_i-1)*6+acc_dir, exc_dir, :))), '-k');
+  plot(freqs, abs(squeeze(FRFs_O((solid_i-1)*6+acc_dir_O, exc_dir, :))), '-k');
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
   set(gca, 'XTickLabel',[]);
@@ -754,7 +755,7 @@ We here sum the norm instead of the complex numbers.
   for i = solids.(solid_names{solid_i})
     plot(freqs, mod(180+180/pi*phase(squeeze(FRFs(acc_dir+3*(i-1), exc_dir, :))), 360)-180);
   end
-  plot(freqs, mod(180+180/pi*phase(squeeze(FRFs_O((solid_i-1)*6+acc_dir, exc_dir, :))), 360)-180, '-k');
+  plot(freqs, mod(180+180/pi*phase(squeeze(FRFs_O((solid_i-1)*6+acc_dir_O, exc_dir, :))), 360)-180, '-k');
   hold off;
   ylim([-180, 180]); yticks(-180:90:180);
   xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
@@ -764,5 +765,63 @@ We here sum the norm instead of the complex numbers.
   xlim([1, 200]);
 #+end_src
 
+* Verify that we find the original FRF from the FRF in the global coordinates
+From the computed FRF of the Hexapod in its 6 DOFs, compute the FRF of the accelerometer 1 fixed to the Hexapod during the measurement.
+
+#+begin_src matlab
+  FRF_test = zeros(801, 3);
+  for i = 1:801
+    FRF_test(i, :) = FRFs_O(31:33, 1, i) + cross(FRFs_O(34:36, 1, i), acc_pos(1, :)');
+  end
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+
+  ax1 = subplot(3, 1, 1);
+  hold on;
+  plot(freqs, abs(squeeze(FRFs(1, 1, :))));
+  plot(freqs, abs(squeeze(FRF_test(:, 1))), '--k');
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  set(gca, 'XTickLabel',[]);
+  xlim([1, 200]);
+  title('FRF $\frac{D_{1x}}{F_x}$');
+
+  ax2 = subplot(3, 1, 2);
+  hold on;
+  plot(freqs, abs(squeeze(FRFs(2, 1, :))));
+  plot(freqs, abs(squeeze(FRF_test(:, 2))), '--k');
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  set(gca, 'XTickLabel',[]);
+  ylabel('Amplitude');
+  xlim([1, 200]);
+  title('FRF $\frac{D_{1y}}{F_x}$');
+
+  ax3 = subplot(3, 1, 3);
+  hold on;
+  plot(freqs, abs(squeeze(FRFs(3, 1, :))));
+  plot(freqs, abs(squeeze(FRF_test(:, 3))), '--k');
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  xlabel('Frequency [Hz]');
+  xlim([1, 200]);
+  legend({'Original Measurement', 'Recovered Measurement'}, 'Location', 'southeast');
+  title('FRF $\frac{D_{1z}}{F_x}$');
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/compare_original_meas_with_recovered.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:compare_original_meas_with_recovered
+#+CAPTION: Comparison of the original measured FRFs with the recovered FRF from the FRF in the common cartesian frame
+[[file:figs/compare_original_meas_with_recovered.png]]
+
+#+begin_important
+  The reduction of the number of degrees of freedom from 69 (23 accelerometers with each 3DOF) to 36 (6 solid bodies with 6 DOF) seems to work well.
+#+end_important
 
 * TODO Synthesis of FRF curves