diff --git a/identification/matlab-old/id_G_cart_plots.m b/identification/matlab-old/id_G_cart_plots.m
deleted file mode 100644
index c315252..0000000
--- a/identification/matlab-old/id_G_cart_plots.m
+++ /dev/null
@@ -1,115 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load the transfer functions
-load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Plant
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-set(gca, 'XTickLabel',[]);
-ylabel('Amplitude [m/N]');
-hold off;
-
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1)
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca,'xscale','log');
-yticks(-1800:90:1800);
-ylim([-180 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-legend('Location', 'southwest');
-hold off;
-
-linkaxes([ax1,ax2],'x');
-
-if save_fig; exportFig('comp_models_plant_x_x', 'normal-normal', struct('path', 'identification')); end
-
-%%
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-set(gca, 'XTickLabel',[]);
-ylabel('Amplitude [m/N]');
-hold off;
-
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1)
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca,'xscale','log');
-yticks(-1800:90:1800);
-ylim([-180 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-legend('Location', 'southwest');
-hold off;
-
-linkaxes([ax1,ax2],'x');
-
-if save_fig; exportFig('comp_models_plant_z_z', 'normal-normal', struct('path', 'identification')); end
-
-%% Plot all the coupling
-figure;
-
-for i_input = 1:3
-    for i_output = 1:3
-        subplot(3,3,3*(i_input-1)+i_output);
-        hold on;
-        plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart(i_output, i_input), freqs, 'Hz'))));
-        plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart(i_output, i_input), freqs, 'Hz'))));
-        set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-        xlim([freqs(1) freqs(end)]); ylim([1e-12, 1e-2]);
-        yticks([1e-12, 1e-8, 1e-4]); xticks([0.1 1 10 100 1000]);
-        if i_output > 1; set(gca,'yticklabel',[]); end
-        if i_input < 3; set(gca,'xticklabel',[]); end
-        hold off;
-    end
-end
-
-if save_fig; exportFig('comp_models_plant_coupling_all', 'full-tall', struct('path', 'identification')); end
-
-%% Plot some coupling
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light - $Fx \to Dx$');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light - $Fx \to Dx$');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy - $Fx \to Dy$');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy - $Fx \to Dy$');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'VC - Heavy - $Fx \to Dz$');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'PZ - Heavy - $Fx \to Dz$');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-xlabel('Frequency [Hz]'); ylabel('Amplitude [m/m]');
-legend('Location', 'southwest');
-xticks('manual'); xlim([freqs(1) freqs(end)]);
-hold off;
-
-if save_fig; exportFig('comp_models_plant_coupling', 'normal-normal', struct('path', 'identification')); end
diff --git a/identification/matlab-old/id_G_d_plots.m b/identification/matlab-old/id_G_d_plots.m
deleted file mode 100644
index f8b97a8..0000000
--- a/identification/matlab-old/id_G_d_plots.m
+++ /dev/null
@@ -1,77 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load the identified transfer functions
-load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Transfer function from ground displacement to measured displacement
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/m]');
-hold off;
-legend('Location', 'southwest');
-
-if save_fig; exportFig('comp_models_xw_to_d', 'normal-normal', struct('path', 'identification')); end
-
-%%
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/m]');
-hold off;
-legend('Location', 'southwest');
-
-%% Transfer function from direct force to measured displacement
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/N]');
-hold off;
-legend('Location', 'southwest');
-
-if save_fig; exportFig('comp_models_fi_to_d', 'normal-normal', struct('path', 'identification')); end
-
-%%
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/N]');
-hold off;
-legend('Location', 'southwest');
-
-%%
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/N]');
-hold off;
-legend('Location', 'southwest');
\ No newline at end of file
diff --git a/identification/matlab-old/id_G_iff_plots.m b/identification/matlab-old/id_G_iff_plots.m
deleted file mode 100644
index 2c0e6d9..0000000
--- a/identification/matlab-old/id_G_iff_plots.m
+++ /dev/null
@@ -1,57 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load the identified transfer functions
-load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%%
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--');
-plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-set(gca, 'XTickLabel',[]);
-ylabel('Amplitude [m/N]');
-hold off;
-
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
-set(gca,'ColorOrderIndex',1)
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
-set(gca,'xscale','log');
-yticks(-180:90:180);
-ylim([-180 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-legend('Location', 'southwest');
-hold off;
-
-linkaxes([ax1,ax2],'x');
-
-if save_fig; exportFig('G_iff', 'normal-normal', struct('path', 'identification')); end
-
-%% Coupling
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'k-');
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm2', 'F1'), freqs, 'Hz'))), 'k--');
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm3', 'F1'), freqs, 'Hz'))), 'k--');
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm4', 'F1'), freqs, 'Hz'))), 'k--');
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm5', 'F1'), freqs, 'Hz'))), 'k--');
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm6', 'F1'), freqs, 'Hz'))), 'k--');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
-hold off;
-
-if save_fig; exportFig('G_iff_coupling', 'normal-normal', struct('path', 'identification')); end
diff --git a/identification/matlab-old/id_flexible_rigid.m b/identification/matlab-old/id_flexible_rigid.m
deleted file mode 100644
index 2c1d40e..0000000
--- a/identification/matlab-old/id_flexible_rigid.m
+++ /dev/null
@@ -1,55 +0,0 @@
-%% Script Description
-% Determine if we take into account the flexibilities,
-% does that changes a lot
-
-%%
-clear; close all; clc;
-
-%% Initialize all the stage by default
-run init_data.m
-
-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
-
-%% Name of the Simulink File
-mdl = 'sim_micro_station_id';
-
-%% Micro-Hexapod
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
-io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
-io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
-io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
-io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
-
-
-%% Run the linearization
-initializeTy();
-
-G_ms_flexible = linearize(mdl, io, 0);
-
-% Input/Output names
-G_ms_flexible.InputName  = {'Fmx', 'Fmy', 'Fmz',...
-                            'Fgx', 'Fgy', 'Fgz'};
-G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
-                            'Tyx', 'Tyy', 'Tyz', ...
-                            'Ryx', 'Ryy', 'Ryz', ...
-                            'Dgx', 'Dgy', 'Dgz'};
-
-%% Run the linearization
-initializeTy(struct('rigid', true));
-
-G_ms_ty_rigid = linearize(mdl, io, 0);
-
-% Input/Output names
-G_ms_ty_rigid.InputName  = {'Fmx', 'Fmy', 'Fmz',...
-                            'Fgx', 'Fgy', 'Fgz'};
-G_ms_ty_rigid.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
-                            'Tyx', 'Tyy', 'Tyz', ...
-                            'Ryx', 'Ryy', 'Ryz', ...
-                            'Dgx', 'Dgy', 'Dgz'};
-
-%% Save the obtained transfer functions
-save('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');
diff --git a/identification/matlab-old/id_flexible_rigid_plots.m b/identification/matlab-old/id_flexible_rigid_plots.m
deleted file mode 100644
index 9e6dbaf..0000000
--- a/identification/matlab-old/id_flexible_rigid_plots.m
+++ /dev/null
@@ -1,99 +0,0 @@
-%% Script Description
-% Determine if we take into account the flexibilities,
-% does that changes a lot
-
-%%
-clear; close all; clc;
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Load the obtained transfer functions
-load('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');
-
-%% Get Measurement Object
-load('2018_01_12.mat', 'm_object');
-
-% Get Measurements Data
-opts = struct('freq_min', 10, 'est_backend', 'idfrd');
-meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {{'tx', 'tx'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
-
-%%
-dir = 'y';
-
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))), '--');
-set(gca,'xscale','log'); set(gca,'yscale','log');
-ylabel('Amplitude [m/N]');
-set(gca, 'XTickLabel',[]);
-legend({'Flexible', 'Ty - Rigid'});
-hold off;
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))), '--');
-set(gca,'xscale','log');
-ylim([-180, 180]);
-yticks([-180, -90, 0, 90, 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-hold off;
-linkaxes([ax1,ax2],'x');
-
-%%
-dir = 'y';
-
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
-set(gca,'xscale','log'); set(gca,'yscale','log');
-ylabel('Amplitude [m/N]');
-set(gca, 'XTickLabel',[]);
-legend({'Flexible', 'Ty - Rigid'});
-hold off;
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
-set(gca,'xscale','log');
-ylim([-180, 180]);
-yticks([-180, -90, 0, 90, 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-hold off;
-linkaxes([ax1,ax2],'x');
-
-%%
-dir = 'z';
-
-figure;
-% Amplitude
-ax1 = subplot(2,1,1);
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
-plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
-plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
-set(gca,'xscale','log'); set(gca,'yscale','log');
-ylabel('Amplitude [m/N]');
-set(gca, 'XTickLabel',[]);
-legend({'Flexible', 'Ty - Rigid'});
-hold off;
-% Phase
-ax2 = subplot(2,1,2);
-hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
-plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
-set(gca,'xscale','log');
-ylim([-180, 180]);
-yticks([-180, -90, 0, 90, 180]);
-xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-hold off;
-linkaxes([ax1,ax2],'x');
diff --git a/identification/matlab-old/id_main.m b/identification/matlab-old/id_main.m
deleted file mode 100644
index 6be661e..0000000
--- a/identification/matlab-old/id_main.m
+++ /dev/null
@@ -1,42 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Identification of the micro-station
-% Compute the transfer functions
-run id_micro_station.m
-
-% Plot de obtained transfer functions
-run id_micro_station_plots.m
-
-% Compare the measurements of Marc with the model
-run id_micro_station_comp_meas.m
-
-%% Identification of the nano-station
-% Run the identification
-run id_nano_station.m
-
-% Plot the plant for feedback control
-run id_G_cart_plots.m
-
-% Plot the transfer function from disturbances to displacement
-run id_G_d_plots.m
-
-% Plot the transfer function for IFF control
-run id_G_iff_plots.m
-
-%% Identification of all the stages
-% Compute the transfer functions of each stage from act. to sens.
-run id_stages.m
-
-% Plot de obtained transfer functions
-run id_stages_plots.m
-
-%% Identification of the variation of the plant
-run id_plant_variation.m
-
-run id_plant_variation_plots.m
-
-%% Study the effect of the flexibility of each Stage
-run id_flexible_rigid.m
-
-run id_flexible_rigid_plots.m
diff --git a/identification/matlab-old/id_micro_station.m b/identification/matlab-old/id_micro_station.m
deleted file mode 100644
index 47cc310..0000000
--- a/identification/matlab-old/id_micro_station.m
+++ /dev/null
@@ -1,37 +0,0 @@
-%% Script Description
-% Make the same identification as Marc did
-% Should comment out the nano-hexapod and sample before
-% runing this script.
-
-%%
-clear; close all; clc;
-
-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
-
-%% Name of the Simulink File
-mdl = 'sim_micro_station_id';
-
-%% Micro-Hexapod
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
-io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
-io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
-io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
-io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
-
-% Run the linearization
-G_ms = linearize(mdl, io, 0);
-
-% Input/Output names
-G_ms.InputName  = {'Fmx', 'Fmy', 'Fmz',...
-                   'Fgx', 'Fgy', 'Fgz'};
-G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
-                   'Tyx', 'Tyy', 'Tyz', ...
-                   'Ryx', 'Ryy', 'Ryz', ...
-                   'Dgx', 'Dgy', 'Dgz'};
-
-%% Save the obtained transfer functions
-save('./mat/id_micro_station.mat', 'G_ms');
diff --git a/identification/matlab-old/id_micro_station_comp_meas.m b/identification/matlab-old/id_micro_station_comp_meas.m
deleted file mode 100644
index 3956426..0000000
--- a/identification/matlab-old/id_micro_station_comp_meas.m
+++ /dev/null
@@ -1,105 +0,0 @@
-%% Script Description
-% Compare identification from the Simscape model
-% with the identification on the real system.
-
-%%
-clear; close all; clc;
-
-%% Load the obtained transfer functions
-load('./mat/id_micro_station.mat', 'G_ms');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Get Measurement Object
-load('2018_01_12.mat', 'm_object');
-
-%% Get Measurements Data
-opts = struct('freq_min', 10, 'est_backend', 'idfrd');
-meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {{'tx', 'tx'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
-
-%% Granite to Granite
-for dir = 'xyz'
-    figure;
-    % Amplitude
-    ax1 = subplot(2,1,1);
-    hold on;
-    plot(freqs, abs(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
-    plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log'); set(gca,'yscale','log');
-    ylabel('Amplitude [m/N]');
-    set(gca, 'XTickLabel',[]);
-    legend({'Model', 'Meas.'});
-    hold off;
-    % Phase
-    ax2 = subplot(2,1,2);
-    hold on;
-    plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
-    plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log');
-    ylim([-180, 180]);
-    yticks([-180, -90, 0, 90, 180]);
-    xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-    hold off;
-    linkaxes([ax1,ax2],'x');
-
-    if save_fig; exportFig(['comp_meas_g_g_' dir], 'normal-normal', struct('path', 'identification')); end
-end
-
-%% Hexapod to Hexapod
-for dir = 'xyz'
-    figure;
-    % Amplitude
-    ax1 = subplot(2,1,1);
-    hold on;
-    plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
-    plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log'); set(gca,'yscale','log');
-    ylabel('Amplitude [m/N]');
-    set(gca, 'XTickLabel',[]);
-    legend({'Model', 'Meas.'});
-    hold off;
-    % Phase
-    ax2 = subplot(2,1,2);
-    hold on;
-    plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
-    plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log');
-    ylim([-180, 180]);
-    yticks([-180, -90, 0, 90, 180]);
-    xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-    hold off;
-
-    linkaxes([ax1,ax2],'x');
-
-    if save_fig; exportFig(['comp_meas_m_m_' dir], 'normal-normal', struct('path', 'identification')); end
-end
-
-%% Hexapod to Granite
-for dir = 'xyz'
-    figure;
-    % Amplitude
-    ax1 = subplot(2,1,1);
-    hold on;
-    plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
-    plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log'); set(gca,'yscale','log');
-    ylabel('Amplitude [m/N]');
-    set(gca, 'XTickLabel',[]);
-    legend({'Model', 'Meas.'});
-    hold off;
-    % Phase
-    ax2 = subplot(2,1,2);
-    hold on;
-    plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
-    plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
-    set(gca,'xscale','log');
-    ylim([-180, 180]);
-    yticks([-180, -90, 0, 90, 180]);
-    xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
-    hold off;
-
-    linkaxes([ax1,ax2],'x');
-
-    if save_fig; exportFig(['comp_meas_m_g_' dir], 'normal-normal', struct('path', 'identification')); end
-end
diff --git a/identification/matlab-old/id_micro_station_plots.m b/identification/matlab-old/id_micro_station_plots.m
deleted file mode 100644
index 23d16d4..0000000
--- a/identification/matlab-old/id_micro_station_plots.m
+++ /dev/null
@@ -1,29 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load the obtained transfer functions
-load('./mat/id_micro_station.mat', 'G_ms');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Micro-Hexapod
-bodeFig({G_ms('Dmx', 'Fmx'), G_ms('Dmy', 'Fmy'), G_ms('Dmz', 'Fmz')}, freqs)
-legend({'$F_{hx} \to D_{hx}$', '$F_{hy} \to D_{hy}$', '$F_{hz} \to D_{hz}$'})
-legend('location', 'southwest')
-
-if save_fig; exportFig('id_marc_m_m', 'normal-normal', struct('path', 'identification')); end
-
-%% Granite
-bodeFig({G_ms('Dgx', 'Fgx'), G_ms('Dgy', 'Fgy'), G_ms('Dgz', 'Fgz')}, freqs)
-legend({'$F_{gx} \to D_{gx}$', '$F_{gy} \to D_{gy}$', '$F_{gz} \to D_{gz}$'})
-legend('location', 'southwest')
-
-if save_fig; exportFig('id_marc_g_g', 'normal-normal', struct('path', 'identification')); end
-
-%% Micro Hexapod to Granite
-bodeFig({G_ms('Dmx', 'Fgx'), G_ms('Dmy', 'Fgy'), G_ms('Dmz', 'Fgz')}, freqs)
-legend({'$F_{hx} \to D_{gx}$', '$F_{hy} \to D_{gy}$', '$F_{hz} \to D_{gz}$'})
-legend('location', 'southwest')
-
-if save_fig; exportFig('id_marc_m_g', 'normal-normal', struct('path', 'identification')); end
diff --git a/identification/matlab-old/id_nano_station.m b/identification/matlab-old/id_nano_station.m
deleted file mode 100644
index ac5d3ed..0000000
--- a/identification/matlab-old/id_nano_station.m
+++ /dev/null
@@ -1,30 +0,0 @@
-%%
-clear; close all; clc;
-
-%%
-K     = tf(zeros(6));
-K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K', 'K_iff', '-append');
-
-initializeInputs();
-
-%% Light Sample
-initializeSample(struct('mass', 1));
-
-initializeNanoHexapod(struct('actuator', 'lorentz'));
-G_light_vc = identifyPlant();
-
-initializeNanoHexapod(struct('actuator', 'piezo'));
-G_light_pz = identifyPlant();
-
-%% Heavy Sample
-initializeSample(struct('mass', 50));
-
-initializeNanoHexapod(struct('actuator', 'lorentz'));
-G_heavy_vc = identifyPlant();
-
-initializeNanoHexapod(struct('actuator', 'piezo'));
-G_heavy_pz = identifyPlant();
-
-%% Save the obtained transfer functions
-save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
diff --git a/identification/matlab-old/id_plant_variation.m b/identification/matlab-old/id_plant_variation.m
deleted file mode 100644
index de06306..0000000
--- a/identification/matlab-old/id_plant_variation.m
+++ /dev/null
@@ -1,28 +0,0 @@
-%%
-clear; close all; clc;
-
-%%
-K     = tf(zeros(6));
-K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K', 'K_iff', '-append');
-
-%% Light Sample
-initializeSample(struct('mass', 50));
-initializeNanoHexapod(struct('actuator', 'piezo'));
-
-%% Vertical Configuration
-initializeInputs();
-G_vert_init = identifyPlant();
-
-initializeInputs(struct('Rz', 90));
-G_vert_turn = identifyPlant();
-
-%% Tilted configuration
-initializeInputs(struct('Ry', 3));
-G_tilt_init = identifyPlant();
-
-initializeInputs(struct('Ry', 3, 'Rz', 90));
-G_tilt_turn = identifyPlant();
-
-%% Save
-save('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
diff --git a/identification/matlab-old/id_plant_variation_plots.m b/identification/matlab-old/id_plant_variation_plots.m
deleted file mode 100644
index 7f8f360..0000000
--- a/identification/matlab-old/id_plant_variation_plots.m
+++ /dev/null
@@ -1,24 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load
-load('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
-
-%%
-bodeFig({G_vert_init.G_dleg(1, 1), ...
-         G_vert_init.G_dleg(2, 2), ...
-         G_vert_init.G_dleg(3, 3), ...
-         G_vert_init.G_dleg(4, 4), ...
-         G_vert_init.G_dleg(5, 5), ...
-         G_vert_init.G_dleg(6, 6)}, struct('phase', true));
-xlim([1, 500]);
-
-%%
-bodeFig({G_vert_init.G_dleg(1, 1), ...
-         G_vert_turn.G_dleg(1, 1),}, struct('phase', true));
-xlim([1, 500]);
-
-%%
-bodeFig({G_vert_init.G_dleg(1, 1), ...
-         G_tilt_init.G_dleg(1, 1),}, struct('phase', true));
-xlim([1, 500]);
diff --git a/identification/matlab-old/id_stages.m b/identification/matlab-old/id_stages.m
deleted file mode 100644
index 92362fa..0000000
--- a/identification/matlab-old/id_stages.m
+++ /dev/null
@@ -1,79 +0,0 @@
-%% Script Description
-% Run an identification of each stage from input to output
-% Save all computed transfer functions into one .mat file
-
-%%
-clear; close all; clc;
-
-%%
-initializeSample(struct('mass', 20));
-
-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
-
-%% Name of the Simulink File
-mdl = 'sim_nano_station_id';
-
-%% Y-Translation Stage
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Fy'],           1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
-
-% Run the linearization
-G_ty = linearize(mdl,io, 0);
-
-% Input/Output names
-G_ty.InputName  = {'Fy'};
-G_ty.OutputName = {'Dy'};
-
-%% Tilt Stage
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Ry'],  1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
-
-% Run the linearization
-G_ry = linearize(mdl,io, 0);
-
-% Input/Output names
-G_ry.InputName  = {'My'};
-G_ry.OutputName = {'Ry'};
-
-%% Spindle
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Rz'],     1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
-
-% Run the linearization
-G_rz = linearize(mdl,io, 0);
-
-% Input/Output names
-G_rz.InputName  = {'Mz'};
-G_rz.OutputName = {'Rz'};
-
-%% Hexapod Symetrie
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Fm'],           1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
-
-% Run the linearization
-G_hexa = linearize(mdl,io, 0);
-
-% Input/Output names
-G_hexa.InputName  = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
-G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhexa_z'};
-
-%% NASS
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Fn'],          1,'openinput');
-io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
-
-% Run the linearization
-G_nass = linearize(mdl,io, 0);
-
-% Input/Output names
-G_nass.InputName  = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
-G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Rnass_x', 'Rnass_y', 'Rnass_z'};
-
-%% Save all transfer function
-save('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
diff --git a/identification/matlab-old/id_stages_plots.m b/identification/matlab-old/id_stages_plots.m
deleted file mode 100644
index 6389bf3..0000000
--- a/identification/matlab-old/id_stages_plots.m
+++ /dev/null
@@ -1,50 +0,0 @@
-%% Script Description
-% From the identification, plot all the
-% transfer funcions.
-
-%%
-clear; close all; clc
-
-%% Load Data
-load('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass');
-
-%% Y-Translation Stage
-bodeFig({G_ty}, struct('phase', true))
-legend({'$F_{y} \to D_{y}$'})
-exportFig('id_ty', 'normal-normal', struct('path', 'identification'))
-
-%% Tilt Stage
-bodeFig({G_ry}, struct('phase', true))
-legend({'$M_{y} \to R_{y}$'})
-exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
-
-%% Spindle
-bodeFig({G_rz}, struct('phase', true))
-legend({'$M_{z} \to R_{z}$'})
-exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
-
-%% Hexapod Symetrie
-bodeFig({G_hexa(1, 1), G_hexa(2, 2), G_hexa(3, 3)}, struct('phase', true))
-legend({'$F_{h_x} \to D_{h_x}$', '$F_{h_y} \to D_{h_y}$', '$F_{h_z} \to D_{h_z}$'})
-exportFig('id_hexapod_trans', 'normal-normal', struct('path', 'identification'))
-
-bodeFig({G_hexa(4, 4), G_hexa(5, 5), G_hexa(6, 6)}, struct('phase', true))
-legend({'$M_{h_x} \to R_{h_x}$', '$M_{h_y} \to R_{h_y}$', '$M_{h_z} \to R_{h_z}$'})
-exportFig('id_hexapod_rot', 'normal-normal', struct('path', 'identification'))
-
-bodeFig({G_hexa(1, 1), G_hexa(2, 1), G_hexa(3, 1)}, struct('phase', true))
-legend({'$F_{h_x} \to D_{h_x}$', '$F_{h_x} \to D_{h_y}$', '$F_{h_x} \to D_{h_z}$'})
-exportFig('id_hexapod_coupling', 'normal-normal', struct('path', 'identification'))
-
-%% NASS
-bodeFig({G_nass(1, 1), G_nass(2, 2), G_nass(3, 3)}, struct('phase', true))
-legend({'$F_{n_x} \to D_{n_x}$', '$F_{n_y} \to D_{n_y}$', '$F_{n_z} \to D_{n_z}$'})
-exportFig('id_nass_trans', 'normal-normal', struct('path', 'identification'))
-
-bodeFig({G_nass(4, 4), G_nass(5, 5), G_nass(6, 6)}, struct('phase', true))
-legend({'$M_{n_x} \to R_{n_x}$', '$M_{n_y} \to R_{n_y}$', '$M_{n_z} \to R_{n_z}$'})
-exportFig('id_nass_rot', 'normal-normal', struct('path', 'identification'))
-
-bodeFig({G_nass(1, 1), G_nass(2, 1), G_nass(3, 1)}, struct('phase', true))
-legend({'$F_{n_x} \to D_{n_x}$', '$F_{n_x} \to D_{n_y}$', '$F_{n_x} \to D_{n_z}$'})
-exportFig('id_nass_coupling', 'normal-normal', struct('path', 'identification'))