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diff --git a/docs/figs/opt_stiffness_plant_dynamics_task_space_colors.gif b/docs/figs/opt_stiffness_plant_dynamics_task_space_colors.gif
index 24d96da..3ec5298 100644
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diff --git a/org/optimal_stiffness.org b/org/optimal_stiffness.org
index a8dcf5b..258202f 100644
--- a/org/optimal_stiffness.org
+++ b/org/optimal_stiffness.org
@@ -75,8 +75,8 @@ The rotation speed will have an effect due to the Coriolis effect.
 #+end_src
 
 #+begin_src matlab
-  load('mat/conf_simulink.mat');
-  open('nass_model.slx')
+  % load('mat/conf_simulink.mat');
+  % open('nass_model.slx')
 #+end_src
 
 ** Initialization
@@ -1762,19 +1762,18 @@ And finally, in Figures [[fig:opt_stiffness_plant_dynamics_task_space]] and [[fi
 
   ax2 = subplot(2, 1, 2);
   hold on;
-  for j = 1:length(Rz_rpm)
-    set(gca,'ColorOrderIndex',1);
-    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
-  end
   for j = 1:length(Fs)
-    set(gca,'ColorOrderIndex',2);
+    set(gca,'ColorOrderIndex',1);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
-  % =Gm_err= - Change of payload mass
   for j = 1:length(Ms)
-    set(gca,'ColorOrderIndex',3);
+    set(gca,'ColorOrderIndex',2);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
+  for j = 1:length(Rz_rpm)
+    set(gca,'ColorOrderIndex',3);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+  end
   set(gca,'ColorOrderIndex',4);
   % =Gmr_err= - Rigid Micro-Station
   plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');
@@ -1849,19 +1848,18 @@ And finally, in Figures [[fig:opt_stiffness_plant_dynamics_task_space]] and [[fi
 
   ax2 = subplot(2, 1, 2);
   hold on;
-  for j = 1:length(Rz_rpm)
-    set(gca,'ColorOrderIndex',1);
-    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
-  end
   for j = 1:length(Fs)
-    set(gca,'ColorOrderIndex',2);
+    set(gca,'ColorOrderIndex',1);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
-  % =Gm_err= - Change of payload mass
   for j = 1:length(Ms)
-    set(gca,'ColorOrderIndex',3);
+    set(gca,'ColorOrderIndex',2);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
+  for j = 1:length(Rz_rpm)
+    set(gca,'ColorOrderIndex',3);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+  end
   set(gca,'ColorOrderIndex',4);
   % =Gmr_err= - Rigid Micro-Station
   plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');
@@ -1936,19 +1934,18 @@ And finally, in Figures [[fig:opt_stiffness_plant_dynamics_task_space]] and [[fi
 
   ax2 = subplot(2, 1, 2);
   hold on;
-  for j = 1:length(Rz_rpm)
-    set(gca,'ColorOrderIndex',1);
-    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
-  end
   for j = 1:length(Fs)
-    set(gca,'ColorOrderIndex',2);
+    set(gca,'ColorOrderIndex',1);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
-  % =Gm_err= - Change of payload mass
   for j = 1:length(Ms)
-    set(gca,'ColorOrderIndex',3);
+    set(gca,'ColorOrderIndex',2);
     plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
+  for j = 1:length(Rz_rpm)
+    set(gca,'ColorOrderIndex',3);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+  end
   set(gca,'ColorOrderIndex',4);
   % =Gmr_err= - Rigid Micro-Station
   plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');
@@ -2023,18 +2020,17 @@ And finally, in Figures [[fig:opt_stiffness_plant_dynamics_task_space]] and [[fi
 
   ax2 = subplot(2, 1, 2);
   hold on;
-  for j = 1:length(Rz_rpm)
-      set(gca,'ColorOrderIndex',1);
-      plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
-  end
   for j = 1:length(Fs)
-      set(gca,'ColorOrderIndex',2);
-      plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+    set(gca,'ColorOrderIndex',1);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
-  % =Gm_err= - Change of payload mass
   for j = 1:length(Ms)
-      set(gca,'ColorOrderIndex',3);
-      plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+    set(gca,'ColorOrderIndex',2);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+  end
+  for j = 1:length(Rz_rpm)
+    set(gca,'ColorOrderIndex',3);
+    plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
   end
   set(gca,'ColorOrderIndex',4);
   % =Gmr_err= - Rigid Micro-Station
@@ -2168,18 +2164,18 @@ And finally, in Figures [[fig:opt_stiffness_plant_dynamics_task_space]] and [[fi
 
       ax2 = subplot(2, 1, 2);
       hold on;
-      for j = 1:length(Rz_rpm)
-          set(gca,'ColorOrderIndex',1);
-          plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
-      end
       for j = 1:length(Fs)
-          set(gca,'ColorOrderIndex',2);
+          set(gca,'ColorOrderIndex',1);
           plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
       end
       for j = 1:length(Ms)
-          set(gca,'ColorOrderIndex',3);
+          set(gca,'ColorOrderIndex',2);
           plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
       end
+      for j = 1:length(Rz_rpm)
+          set(gca,'ColorOrderIndex',3);
+          plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-');
+      end
       set(gca,'ColorOrderIndex',4);
       plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');
       plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');