diff --git a/config.tex b/config.tex
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+++ b/config.tex
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+% ======================
+% New Commands
+% ======================
+% H Infini
+\newcommand{\hinf}{\mathcal{H}_\infty}
+% H 2
+\newcommand{\htwo}{\mathcal{H}_2}
+% Omega
+\newcommand{\w}{\omega}
+% H-Infinity Norm
+\newcommand{\hnorm}[1]{\|#1\|_\infty}
+% H-2 Norm
+\newcommand{\normtwo}[1]{\|#1\|_2}
+% Norm
+\newcommand{\abs}[1]{\vert #1 \vert}
+% Minimum Subscript
+\newcommand{\smin}{_{\text{min}}}
+% Maximum Subscript
+\newcommand{\smax}{_{\text{max}}}
+% Power Spectral Density
+\newcommand{\psd}[1]{\Phi_{#1}}
+% Amplitude Spectral Density
+\newcommand{\asd}[1]{\phi_{#1}}
+% Cumulative Power Spectrum
+\newcommand{\cps}[1]{\Sigma_{#1}}
+% Cumulative Amplitude Spectrum
+\newcommand{\cas}[1]{\sigma_{#1}}
+% Root Mean Square Value
+\newcommand{\rms}[1]{\sigma_{#1}}
+% ======================
diff --git a/nass_simscape.org b/nass_simscape.org
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+#+TITLE: Simscape model - Report
+#+LATEX_CLASS: cleanreport
+#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak]
+#+STARTUP: overview
+#+DATE: 11-2018
+#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
+#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
+#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
+#+LaTeX_HEADER: \input{config.tex}
+
+* Simscape files for identification
+|------------------------+----+----+----+------+------|
+| Simscape Name          | Ty | Ry | Rz | Hexa | NASS |
+|------------------------+----+----+----+------+------|
+| id micro station       | F  | F  | F  | F    |      |
+| id nano station stages | F  | F  | F  | F    | F    |
+| id nano station config | D  | D  | D  | D    | F    |
+| control nano station   | D  | D  | D  | D    | F    |
+|------------------------+----+----+----+------+------|
+
+* Inputs
+** Perturbations
+|----------+--------------------------------------+------+------|
+| Variable | Meaning                              | Size | Unit |
+|----------+--------------------------------------+------+------|
+| ~Dw~     | Ground motion                        |    3 | [m]  |
+| ~Fg~     | External force applied on granite    |    3 | [N]  |
+| ~Fs~     | External force applied on the Sample |    3 | [N]  |
+|----------+--------------------------------------+------+------|
+
+** Measurement Noise
+|----------+---------+------+------|
+| Variable | Meaning | Size | Unit |
+|----------+---------+------+------|
+|          |         |      |      |
+|----------+---------+------+------|
+
+** Control Inputs
+|----------+-------------------------------------------+------+----------|
+| Variable | Meaning                                   | Size | Unit     |
+|----------+-------------------------------------------+------+----------|
+| ~Fy~     | Actuation force for Ty                    |    1 | [N]      |
+| ~Dy~     | Imposed displacement for Ty               |    1 | [m]      |
+|----------+-------------------------------------------+------+----------|
+| ~My~     | Actuation torque for Ry                   |    1 | [N.m]    |
+| ~Ry~     | Imposed rotation for Ry                   |    1 | [rad]    |
+|----------+-------------------------------------------+------+----------|
+| ~Mz~     | Actuation torque for Rz                   |    1 | [N.m]    |
+| ~Rz~     | Imposed rotation for Rz                   |    1 | [rad]    |
+|----------+-------------------------------------------+------+----------|
+| ~Fh~     | Actuation force/torque for hexapod (cart) |    6 | [N, N.m] |
+| ~Fhl~    | Actuation force/torque for hexapod (legs) |    6 | [N]      |
+| ~Dh~     | Imposed position for hexapod (cart)       |    6 | [m, rad] |
+|----------+-------------------------------------------+------+----------|
+| ~Rm~     | Position of the two masses                |    2 | [rad]    |
+|----------+-------------------------------------------+------+----------|
+| ~Fn~     | Actuation force for the NASS (cart)       |    6 | [N, N.m] |
+| ~Fnl~    | Actuation force for the NASS's legs       |    6 | [N]      |
+| ~Dn~     | Imposed position for the NASS (cart)      |    6 | [m, rad] |
+|----------+-------------------------------------------+------+----------|
+
+* Outputs
+
+|----------+---------------------------------------------+------+--------------|
+| Variable | Meaning                                     | Size | Unit         |
+|----------+---------------------------------------------+------+--------------|
+| ~Dgm~    | Absolute displacement of the granite        |    3 | [m]          |
+| ~Vgm~    | Absolute Velocity of the granite            |    3 | [m/s]        |
+|----------+---------------------------------------------+------+--------------|
+| ~Dym~    | Measured displacement of Ty                 |    1 | [m]          |
+|----------+---------------------------------------------+------+--------------|
+| ~Rym~    | Measured rotation of Ry                     |    1 | [rad]        |
+|----------+---------------------------------------------+------+--------------|
+| ~Rzm~    | Measured rotation of Rz                     |    1 | [rad]        |
+|----------+---------------------------------------------+------+--------------|
+| ~Dhm~    | Measured position of hexapod (cart)         |    6 | [m, rad]     |
+|----------+---------------------------------------------+------+--------------|
+| ~Fnlm~   | Measured force of NASS's legs               |    6 | [N]          |
+| ~Dnlm~   | Measured elongation of NASS's legs          |    6 | [m]          |
+| ~Dnm~    | Measured position of NASS w.r.t NASS's base |    6 | [m, rad]     |
+| ~Vnm~    | Measured absolute velocity of NASS platform |    6 | [m/s, rad/s] |
+| ~Vnlm~   | Measured absolute velocity of NASS's legs   |    6 | [m/s]        |
+|----------+---------------------------------------------+------+--------------|
+| ~Dsm~    | Position of Sample w.r.t. granite frame     |    6 | [m, rad]     |
+|----------+---------------------------------------------+------+--------------|