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diff --git a/org/control_voice_coil.org b/org/control_voice_coil.org
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--- a/org/control_voice_coil.org
+++ b/org/control_voice_coil.org
@@ -1087,6 +1087,64 @@ Finally with the primary controller
 #+caption: Evolution of the NASS compliance with each control loop added ([[./figs/compliance_evolution_vc_cascade_control.png][png]], [[./figs/compliance_evolution_vc_cascade_control.pdf][pdf]])
 [[file:figs/compliance_evolution_vc_cascade_control.png]]
 
+*** Comparison with Piezo
+Let's initialize a nano-hexapod with piezoelectric actuators.
+#+begin_src matlab
+  initializeNanoHexapod('actuator', 'piezo');
+#+end_src
+
+We don't use any controller.
+#+begin_src matlab
+  Kp = tf(zeros(6));
+  Kl = tf(zeros(6));
+  Kiff = tf(zeros(6));
+#+end_src
+
+#+begin_src matlab
+  %% Run the linearization
+  Gc_pz = linearize(mdl, io, 0);
+  Gc_pz.InputName  = {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
+  Gc_pz.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
+#+end_src
+
+#+begin_src matlab :exports none
+  freqs = logspace(-1, 3, 1000);
+
+  figure;
+
+  ax1 = subplot(1, 2, 1);
+  hold on;
+  plot(freqs, abs(squeeze(freqresp(Gc_pri(1, 1), freqs, 'Hz'))), 'DisplayName', 'PRI');
+  plot(freqs, abs(squeeze(freqresp(Gc_pz( 1, 1), freqs, 'Hz'))), 'DisplayName', 'PZ - OL');
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  ylabel('Compliance [m/N]');
+  xlabel('Frequency [Hz]');
+  legend('location', 'northeast');
+
+  ax2 = subplot(1, 2, 2);
+  hold on;
+  plot(freqs, abs(squeeze(freqresp(Gc_pri(4, 4), freqs, 'Hz'))), 'DisplayName', 'PRI');
+  plot(freqs, abs(squeeze(freqresp(Gc_pz( 4, 4), freqs, 'Hz'))), 'DisplayName', 'PZ - OL');
+  hold off;
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  ylabel('Compliance [$\frac{rad}{Nm}$]');
+  xlabel('Frequency [Hz]');
+  legend('location', 'northeast');
+
+  linkaxes([ax1,ax2],'x');
+#+end_src
+
+#+header: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/compliance_comp_pz_vc_cascade.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+name: fig:compliance_comp_pz_vc_cascade
+#+caption: Comparison of the compliance using the open-loop piezo-nano hexapod and the voice coil nano-hexapod with the cascade control topology ([[./figs/compliance_comp_pz_vc_cascade.png][png]], [[./figs/compliance_comp_pz_vc_cascade.pdf][pdf]])
+[[file:figs/compliance_comp_pz_vc_cascade.png]]
+
+
 ** Robustness to Payload Variability
 *** Initialization
 Let's change the payload mass, and see if the controller design for a payload mass of 1 still gives good performance.