diff --git a/control/matlab-old/control_cl_ol_plots.m b/control/matlab-old/control_cl_ol_plots.m
deleted file mode 100644
index 50338ef..0000000
--- a/control/matlab-old/control_cl_ol_plots.m
+++ /dev/null
@@ -1,90 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Load Simulation Results
-sim_light_vc_ol = load('./mat/sim_light_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_light_vc_cl = load('./mat/sim_light_vc_cl.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_light_pz_ol = load('./mat/sim_light_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_light_pz_cl = load('./mat/sim_light_pz_cl.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-
-%% Start after few seconds
-T_init = 1;
-
-%% Plot X against Y in OL - Piezo and Voice Coil
-figure;
-hold on;
-plot(1e9*sim_light_vc_ol.Dx, 1e9*sim_light_vc_ol.Dy);
-plot(1e9*sim_light_pz_ol.Dx, 1e9*sim_light_pz_ol.Dy);
-hold off;
-xlabel('X Displacement [nm]'); ylabel('Y Displacement [nm]');
-xlim([-1000 1000]); ylim([-1000 1000]);
-xticks(-1000:200:1000); yticks(-1000:200:1000);
-legend({'VC - Light - OL', 'PZ - Light - OL'});
-
-if save_fig; exportFig('xy_ol_vc_pz', 'normal-normal', struct('path', 'control')); end
-
-%% Plot X against Y in CL - Piezo and Voice Coil
-figure;
-hold on;
-plot(1e9*sim_light_vc_cl.Dx, 1e9*sim_light_vc_cl.Dy);
-plot(1e9*sim_light_pz_cl.Dx, 1e9*sim_light_pz_cl.Dy);
-hold off;
-xlabel('X Displacement [nm]'); ylabel('Y Displacement [nm]');
-xlim([-500 500]); ylim([-500 500]);
-xticks(-500:100:500); yticks(-500:100:500);
-legend({'VC - Light - CL', 'PZ - Light - CL'});
-
-if save_fig; exportFig('xy_cl_vc_pz', 'normal-normal', struct('path', 'control')); end
-
-%% Compute the RMS Values
-i_init = find(sim_light_vc_ol.time > T_init, 1);
-
-rms_light_vc_ol = rms(sqrt(sim_light_vc_ol.Dx(i_init:end).^2+sim_light_vc_ol.Dy(i_init:end).^2));
-rms_light_pz_ol = rms(sqrt(sim_light_pz_ol.Dx(i_init:end).^2+sim_light_pz_ol.Dy(i_init:end).^2));
-rms_light_vc_cl = rms(sqrt(sim_light_vc_cl.Dx(i_init:end).^2+sim_light_vc_cl.Dy(i_init:end).^2));
-rms_light_pz_cl = rms(sqrt(sim_light_pz_cl.Dx(i_init:end).^2+sim_light_pz_cl.Dy(i_init:end).^2));
-
-fprintf('   \t OL   \t CL   [nm RMS]\n');
-fprintf('PZ \t %.0f \t %.0f \n',   1e9*rms_light_pz_ol, 1e9*rms_light_pz_cl);
-fprintf('VC \t %.0f \t %.0f \n\n', 1e9*rms_light_vc_ol, 1e9*rms_light_vc_cl);
-
-%% Compute the PSD
-sim_light_vc_ol.psd = computePsdDispl(sim_light_vc_ol, 1, 2);
-sim_light_pz_ol.psd = computePsdDispl(sim_light_pz_ol, 1, 2);
-sim_light_vc_cl.psd = computePsdDispl(sim_light_vc_cl, 1, 2);
-sim_light_pz_cl.psd = computePsdDispl(sim_light_pz_cl, 1, 2);
-
-%% PSD Open Loop and Close Loop for the X direction
-figure;
-hold on;
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx, 'DisplayName', 'VC - $T_x$ - OL');
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx, 'DisplayName', 'PZ - $T_x$ - OL');
-set(gca,'ColorOrderIndex',1);
-plot(sim_light_vc_cl.psd.f, sim_light_vc_cl.psd.dx, '--', 'DisplayName', 'VC - $T_x$ - CL');
-plot(sim_light_pz_cl.psd.f, sim_light_pz_cl.psd.dx, '--', 'DisplayName', 'PZ - $T_x$ - CL');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
-xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
-hold off;
-legend('Location', 'southwest');
-
-if save_fig; exportFig('psd_ol_cl_pz_vc_light_tx', 'normal-normal', struct('path', 'control')); end
-
-%% PSD Open Loop and Close Loop for the Z direction
-figure;
-hold on;
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz, 'DisplayName', 'VC - $T_z$ - OL');
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz, 'DisplayName', 'PZ - $T_z$ - OL');
-set(gca,'ColorOrderIndex',1);
-plot(sim_light_vc_cl.psd.f, sim_light_vc_cl.psd.dz, '--', 'DisplayName', 'VC - $T_z$ - CL');
-plot(sim_light_pz_cl.psd.f, sim_light_pz_cl.psd.dz, '--', 'DisplayName', 'PZ - $T_z$ - CL');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
-xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
-hold off;
-legend('Location', 'southwest');
-
-if save_fig; exportFig('psd_ol_cl_pz_vc_light_tz', 'normal-normal', struct('path', 'control')); end
diff --git a/control/matlab-old/control_cl_sim.m b/control/matlab-old/control_cl_sim.m
deleted file mode 100644
index b21a26e..0000000
--- a/control/matlab-old/control_cl_sim.m
+++ /dev/null
@@ -1,15 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Initialize Simulation and Inputs
-initializeExperiment('tomography', 'light');
-
-%% Run Close Loop Simulations
-runSimulation('vc', 'light', 'cl', 'none');
-runSimulation('pz', 'light', 'cl', 'none');
-% runSimulation('vc', 'heavy', 'cl', 'none');
-% runSimulation('pz', 'heavy', 'cl', 'none');
-
-%%
-opts_inputs = struct('Dw', true);
-initializeInputs(opts_inputs);
diff --git a/control/matlab-old/control_cl_tf.m b/control/matlab-old/control_cl_tf.m
deleted file mode 100644
index 3fdda91..0000000
--- a/control/matlab-old/control_cl_tf.m
+++ /dev/null
@@ -1,34 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load Controllers
-load('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
-
-%% Closed Loop - Light Sample
-initializeSample(struct('mass', 1));
-
-initializeNanoHexapod(struct('actuator', 'lorentz'));
-K = K_light_vc; %#ok
-save('./mat/controllers.mat', 'K');
-Gd_cl_light_vc = identifyPlant();
-
-initializeNanoHexapod(struct('actuator', 'piezo'));
-K = K_light_pz; %#ok
-save('./mat/controllers.mat', 'K');
-Gd_cl_light_pz = identifyPlant();
-
-%% Closed Loop - Heavy Sample
-initializeSample(struct('mass', 50));
-
-initializeNanoHexapod(struct('actuator', 'lorentz'));
-K = K_heavy_vc; %#ok
-save('./mat/controllers.mat', 'K');
-G_cl_heavy_vc = identifyPlant();
-
-initializeNanoHexapod(struct('actuator', 'piezo'));
-K = K_heavy_pz;
-save('./mat/controllers.mat', 'K');
-G_cl_heavy_pz = identifyPlant();
-
-%% Save the identified transfer functions
-save('./mat/G_cl.mat', 'G_cl_light_vc', 'G_cl_light_pz', 'G_cl_heavy_vc', 'G_cl_heavy_pz');
\ No newline at end of file
diff --git a/control/matlab-old/control_cl_tf_comp.m b/control/matlab-old/control_cl_tf_comp.m
deleted file mode 100644
index 4647f24..0000000
--- a/control/matlab-old/control_cl_tf_comp.m
+++ /dev/null
@@ -1,41 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load System and Damped System
-load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
-load('./mat/G_cl.mat', 'G_cl_light_vc', 'G_cl_light_pz', 'G_cl_heavy_vc', 'G_cl_heavy_pz');
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% From xw to d
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC - OL');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ - OL');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_cl_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light VC - CL');
-plot(freqs, abs(squeeze(freqresp(G_cl_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light PZ - CL');
-hold off;
-xlim([freqs(1) freqs(end)]);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
-legend('Location', 'southwest');
-
-if save_fig; exportFig('damping_comp_xw', 'normal-normal', struct('path', 'active_damping')); end
-
-%% From fi to d
-figure;
-hold on;
-plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC - OL');
-plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ - OL');
-set(gca,'ColorOrderIndex',1);
-plot(freqs, abs(squeeze(freqresp(G_cl_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light VC - CL');
-plot(freqs, abs(squeeze(freqresp(G_cl_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light PZ - CL');
-hold off;
-xlim([freqs(1) freqs(end)]);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
-legend('Location', 'southwest');
-
-if save_fig; exportFig('damping_comp_fi', 'normal-normal', struct('path', 'active_damping')); end
\ No newline at end of file
diff --git a/control/matlab-old/control_generate.m b/control/matlab-old/control_generate.m
deleted file mode 100644
index aef54cc..0000000
--- a/control/matlab-old/control_generate.m
+++ /dev/null
@@ -1,57 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load Plant
-load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
-
-%%
-s = tf('s');
-
-%%
-% bodeFig({minreal(G_light_vc.G_cart(1, 1))}, struct('phase', true));
-
-%%
-% sisotool(minreal(G_light_vc.G_cart(6, 6)))
-
-K_light_vc = tf(zeros(6));
-K_light_vc(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
-K_light_vc(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
-K_light_vc(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
-K_light_vc(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
-K_light_vc(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
-K_light_vc(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
-
-%%
-i = 6;
-bodeFig({-G_light_vc.G_plant(i, i)*K_light_vc(i, i)}, struct('phase', true))
-
-%%
-% sisotool(minreal(G_light_pz.G_plant(1, 1)))
-
-K_light_pz = tf(zeros(6));
-% K_light_pz(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
-% K_light_pz(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
-% K_light_pz(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
-% K_light_pz(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
-% K_light_pz(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
-% K_light_pz(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
-
-%%
-K_heavy_vc = tf(zeros(6));
-K_heavy_pz = tf(zeros(6));
-
-
-%%
-save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
-
-%% Automatic generation of controllers
-% fs = 100;
-%
-% K_light_vc = generateDiagPidControl(G_light_vc.G_cart, fs);
-% K_light_pz = generateDiagPidControl(G_light_pz.G_cart, fs);
-%
-% K_heavy_vc = generateDiagPidControl(G_heavy_vc.G_cart, fs);
-% K_heavy_pz = generateDiagPidControl(G_heavy_pz.G_cart, fs);
-
-%% Save the MIMO control
-% save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
diff --git a/control/matlab-old/control_main.m b/control/matlab-old/control_main.m
deleted file mode 100644
index ff6cb9f..0000000
--- a/control/matlab-old/control_main.m
+++ /dev/null
@@ -1,25 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Generate Control Laws for the Undamped System
-run control_generate.m
-
-%% Run the simulation and save results
-% Run open loop simulations
-run control_ol_sim.m
-
-% Run closed loop simulations
-run control_cl_sim.m
-
-% Compute PSD in open loop
-run control_ol_psd.m
-
-% Plots to compare OL and CL for PZ and VC
-run control_cl_ol_plots.m
-
-%% Identify the Closed Loop Transfer Functions
-% Compute the closed loop transfer functions
-run control_cl_tf.m
-
-% Compare OL and CL transfer functions
-run control_cl_tf_comp.m
diff --git a/control/matlab-old/control_ol_psd.m b/control/matlab-old/control_ol_psd.m
deleted file mode 100644
index cf4165e..0000000
--- a/control/matlab-old/control_ol_psd.m
+++ /dev/null
@@ -1,87 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Load Configuration file
-load('./mat/config.mat', 'save_fig', 'freqs');
-
-%% Load Simulation Results
-sim_light_vc_ol = load('./mat/sim_light_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_light_pz_ol = load('./mat/sim_light_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_heavy_vc_ol = load('./mat/sim_heavy_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-sim_heavy_pz_ol = load('./mat/sim_heavy_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
-
-%%
-sim_light_vc_ol.psd = computePsdDispl(sim_light_vc_ol, 1, 2);
-sim_light_pz_ol.psd = computePsdDispl(sim_light_pz_ol, 1, 2);
-
-sim_heavy_vc_ol.psd = computePsdDispl(sim_heavy_vc_ol, 1, 2);
-sim_heavy_pz_ol.psd = computePsdDispl(sim_heavy_pz_ol, 1, 2);
-
-%% PSD Plot of translations
-figure;
-hold on;
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
-hold off;
-legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
-
-if save_fig; exportFig('psd_ol_vc_light_trans', 'normal-normal', struct('path', 'control')); end
-
-%% PSD Plot of rotations
-figure;
-hold on;
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.rx);
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.ry);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
-hold off;
-legend({'PSD $Rx$', 'PSD $Rz$'})
-
-if save_fig; exportFig('psd_ol_vc_light_rot', 'normal-normal', struct('path', 'control')); end
-
-%% PSD Plot of translations
-figure;
-hold on;
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx);
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy);
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
-hold off;
-legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
-
-if save_fig; exportFig('psd_ol_pz_light_trans', 'normal-normal', struct('path', 'control')); end
-
-%% PSD Plot of rotations
-figure;
-hold on;
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.rx);
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.ry);
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
-hold off;
-legend({'PSD $Rx$', 'PSD $Rz$'})
-
-if save_fig; exportFig('psd_ol_pz_light_rot', 'normal-normal', struct('path', 'control')); end
-
-
-%% PSD Plot of translations
-figure;
-hold on;
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
-plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
-set(gca,'ColorOrderIndex',1);
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx, '--');
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy, '--');
-plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz, '--');
-set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
-xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
-hold off;
-legend({'PSD $Tx$ - VC', 'PSD $Tz$ - VC', 'PSD $Tz$ - VC', 'PSD $Tx$ - PZ', 'PSD $Tz$ - PZ', 'PSD $Tz$ - PZ'})
-
-if save_fig; exportFig('psd_ol_pz_vc_light_trans', 'wide-tall', struct('path', 'control')); end
diff --git a/control/matlab-old/control_ol_sim.m b/control/matlab-old/control_ol_sim.m
deleted file mode 100644
index 9849e13..0000000
--- a/control/matlab-old/control_ol_sim.m
+++ /dev/null
@@ -1,11 +0,0 @@
-%%
-clear; close all; clc;
-
-%% Initialize Simulation and Inputs
-initializeExperiment('tomography', 'light');
-
-%% Run Open Loop Simulations
-runSimulation('vc', 'light', 'ol', 'none');
-runSimulation('pz', 'light', 'ol', 'none');
-% runSimulation('vc', 'heavy', 'ol', 'none');
-% runSimulation('pz', 'heavy', 'ol', 'none');