diff --git a/docs/index.html b/docs/index.html
index 551b1b2..6813a41 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -4,7 +4,7 @@
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
-<!-- 2020-03-25 mer. 19:21 -->
+<!-- 2020-04-01 mer. 16:28 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simscape Model of the Nano-Active-Stabilization-System</title>
@@ -202,50 +202,28 @@
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
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-JavaScript code in this tag.
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-Copyright (C) 2012-2020 Free Software Foundation, Inc.
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-redistribute it and/or modify it under the terms of the GNU
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-Foundation, either version 3 of the License, or (at your option)
-any later version. The code is distributed WITHOUT ANY WARRANTY;
-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
-may distribute non-source (e.g., minimized or compacted) forms of
-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
-
-@licend The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
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</head>
<body>
@@ -265,13 +243,14 @@ for the JavaScript code in this tag.
<li><a href="#orgdb0ed73">4. Kinematics of the Station (link)</a></li>
<li><a href="#org905bc44">5. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#org402c8e6">6. Tuning of the Dynamics of the Simscape model (link)</a></li>
-<li><a href="#org4dd191b">7. Disturbances (link)</a></li>
-<li><a href="#org6d7e868">8. Tomography Experiment (link)</a></li>
-<li><a href="#orgafa75bf">9. Effect of support’s compliance uncertainty on the plant (link)</a></li>
-<li><a href="#org3b8f596">10. Active Damping Techniques on the Uni-axial Model (link)</a></li>
-<li><a href="#org14a10e8">11. Active Damping Techniques on the full Simscape Model (link)</a></li>
-<li><a href="#orgd818a00">12. Control of the Nano-Active-Stabilization-System (link)</a></li>
-<li><a href="#org361f405">13. Useful Matlab Functions (link)</a></li>
+<li><a href="#org7af5540">7. Compensating Gravity forces to start simulation at steady state (link)</a></li>
+<li><a href="#org4dd191b">8. Disturbances (link)</a></li>
+<li><a href="#org8d9280d">9. Simulation of Experiment (link)</a></li>
+<li><a href="#orgafa75bf">10. Effect of support’s compliance uncertainty on the plant (link)</a></li>
+<li><a href="#orga323881">11. Effect of Experimental conditions on the plant dynamics (link)</a></li>
+<li><a href="#org14a10e8">12. Active Damping Techniques on the full Simscape Model (link)</a></li>
+<li><a href="#orgd818a00">13. Control of the Nano-Active-Stabilization-System (link)</a></li>
+<li><a href="#org361f405">14. Useful Matlab Functions (link)</a></li>
</ul>
</div>
</div>
@@ -349,10 +328,27 @@ This is explained <a href="./identification.html">here</a>.
</div>
</div>
-<div id="outline-container-org4dd191b" class="outline-2">
-<h2 id="org4dd191b"><span class="section-number-2">7</span> Disturbances (<a href="./disturbances.html">link</a>)</h2>
+<div id="outline-container-org7af5540" class="outline-2">
+<h2 id="org7af5540"><span class="section-number-2">7</span> Compensating Gravity forces to start simulation at steady state (<a href="compensation_gravity_forces.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
+When gravity is included in the model, the simulation does not start at steady state.
+</p>
+
+<p>
+This can be problematic, especially when using a soft nano-hexapod as the deflection due to gravity will be quite large.
+</p>
+
+<p>
+A technique is described in this document in order to compensate the gravity forces and start the simulation at steady state without deflection.
+</p>
+</div>
+</div>
+
+<div id="outline-container-org4dd191b" class="outline-2">
+<h2 id="org4dd191b"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances.html">link</a>)</h2>
+<div class="outline-text-2" id="text-8">
+<p>
The effect of disturbances on the position of the micro-station have been measured.
These are now converted to force disturbances using the Simscape model.
</p>
@@ -367,40 +363,41 @@ We also discuss how the disturbances are implemented in the model.
</div>
</div>
-<div id="outline-container-org6d7e868" class="outline-2">
-<h2 id="org6d7e868"><span class="section-number-2">8</span> Tomography Experiment (<a href="./experiments.html">link</a>)</h2>
-<div class="outline-text-2" id="text-8">
+<div id="outline-container-org8d9280d" class="outline-2">
+<h2 id="org8d9280d"><span class="section-number-2">9</span> Simulation of Experiment (<a href="./experiments.html">link</a>)</h2>
+<div class="outline-text-2" id="text-9">
<p>
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
</p>
<p>
-Tomography experiments are simulated and the results are presented <a href="./experiments.html">here</a>.
+Experiments are simulated and the results are presented <a href="./experiments.html">here</a>.
</p>
</div>
</div>
<div id="outline-container-orgafa75bf" class="outline-2">
-<h2 id="orgafa75bf"><span class="section-number-2">9</span> Effect of support’s compliance uncertainty on the plant (<a href="uncertainty_support.html">link</a>)</h2>
-<div class="outline-text-2" id="text-9">
+<h2 id="orgafa75bf"><span class="section-number-2">10</span> Effect of support’s compliance uncertainty on the plant (<a href="uncertainty_support.html">link</a>)</h2>
+<div class="outline-text-2" id="text-10">
<p>
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
</p>
</div>
</div>
-<div id="outline-container-org3b8f596" class="outline-2">
-<h2 id="org3b8f596"><span class="section-number-2">10</span> Active Damping Techniques on the Uni-axial Model (<a href="./active_damping_uniaxial.html">link</a>)</h2>
-<div class="outline-text-2" id="text-10">
+<div id="outline-container-orga323881" class="outline-2">
+<h2 id="orga323881"><span class="section-number-2">11</span> Effect of Experimental conditions on the plant dynamics (<a href="uncertainty_experiment.html">link</a>)</h2>
+<div class="outline-text-2" id="text-11">
<p>
-Active damping techniques are applied to the Uniaxial Simscape model.
+In this document, the effect of all the experimental conditions (rotation speed, sample mass, …) on the plant dynamics are studied.
+Conclusion are drawn about what experimental conditions are critical on the variability of the plant dynamics.
</p>
</div>
</div>
<div id="outline-container-org14a10e8" class="outline-2">
-<h2 id="org14a10e8"><span class="section-number-2">11</span> Active Damping Techniques on the full Simscape Model (<a href="control_active_damping.html">link</a>)</h2>
-<div class="outline-text-2" id="text-11">
+<h2 id="org14a10e8"><span class="section-number-2">12</span> Active Damping Techniques on the full Simscape Model (<a href="control_active_damping.html">link</a>)</h2>
+<div class="outline-text-2" id="text-12">
<p>
Active damping techniques are applied to the full Simscape model.
</p>
@@ -408,12 +405,18 @@ Active damping techniques are applied to the full Simscape model.
</div>
<div id="outline-container-orgd818a00" class="outline-2">
-<h2 id="orgd818a00"><span class="section-number-2">12</span> Control of the Nano-Active-Stabilization-System (<a href="control.html">link</a>)</h2>
-</div>
-<div id="outline-container-org361f405" class="outline-2">
-<h2 id="org361f405"><span class="section-number-2">13</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
+<h2 id="orgd818a00"><span class="section-number-2">13</span> Control of the Nano-Active-Stabilization-System (<a href="control.html">link</a>)</h2>
<div class="outline-text-2" id="text-13">
<p>
+In this file are gathered all studies about the control the Nano-Active-Stabilization-System.
+</p>
+</div>
+</div>
+
+<div id="outline-container-org361f405" class="outline-2">
+<h2 id="org361f405"><span class="section-number-2">14</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
+<div class="outline-text-2" id="text-14">
+<p>
Many matlab functions are shared among all the files of the projects.
</p>
@@ -425,7 +428,7 @@ These functions are all defined <a href="./functions.html">here</a>.
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-03-25 mer. 19:21</p>
+<p class="date">Created: 2020-04-01 mer. 16:28</p>
</div>
</body>
</html>
diff --git a/org/index.org b/org/index.org
index 4e96e0e..d8fd953 100644
--- a/org/index.org
+++ b/org/index.org
@@ -69,6 +69,13 @@ From dynamical measurements perform on the real positioning station, we tune the
This is explained [[./identification.org][here]].
+* Compensating Gravity forces to start simulation at steady state ([[file:compensation_gravity_forces.org][link]])
+When gravity is included in the model, the simulation does not start at steady state.
+
+This can be problematic, especially when using a soft nano-hexapod as the deflection due to gravity will be quite large.
+
+A technique is described in this document in order to compensate the gravity forces and start the simulation at steady state without deflection.
+
* Disturbances ([[./disturbances.org][link]])
The effect of disturbances on the position of the micro-station have been measured.
These are now converted to force disturbances using the Simscape model.
@@ -77,21 +84,24 @@ This is discussed [[./disturbances.org][here]].
We also discuss how the disturbances are implemented in the model.
-* Tomography Experiment ([[./experiments.org][link]])
+* Simulation of Experiment ([[./experiments.org][link]])
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
-Tomography experiments are simulated and the results are presented [[./experiments.org][here]].
+Experiments are simulated and the results are presented [[./experiments.org][here]].
* Effect of support's compliance uncertainty on the plant ([[file:uncertainty_support.org][link]])
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.
-* Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial.org][link]])
-Active damping techniques are applied to the Uniaxial Simscape model.
+* Effect of Experimental conditions on the plant dynamics ([[file:uncertainty_experiment.org][link]])
+In this document, the effect of all the experimental conditions (rotation speed, sample mass, ...) on the plant dynamics are studied.
+Conclusion are drawn about what experimental conditions are critical on the variability of the plant dynamics.
* Active Damping Techniques on the full Simscape Model ([[file:control_active_damping.org][link]])
Active damping techniques are applied to the full Simscape model.
* Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
+In this file are gathered all studies about the control the Nano-Active-Stabilization-System.
+
* Useful Matlab Functions ([[./functions.org][link]])
Many matlab functions are shared among all the files of the projects.