function [sys] = identifyPlant(opts_param)
    %% Default values for opts
    opts = struct();

    %% Populate opts with input parameters
    if exist('opts_param','var')
        for opt = fieldnames(opts_param)'
            opts.(opt{1}) = opts_param.(opt{1});
        end
    end

    %% Options for Linearized
    options = linearizeOptions;
    options.SampleTime = 0;

    %% Name of the Simulink File
    mdl = 'sim_nano_station';

    %% Input/Output definition
    io(1) = linio([mdl, '/Fn'],           1, 'input');
    io(2) = linio([mdl, '/Gm'],           1, 'input');
    io(3) = linio([mdl, '/Fs_ext'],       1, 'input');
    io(4) = linio([mdl, '/F_legs'],       1, 'input');
    io(5) = linio([mdl, '/Dsample_meas'], 1, 'output');
    io(6) = linio([mdl, '/F_meas'],       1, 'output');

    %% Run the linearization
    G = linearize(mdl, io, 0);
    G.InputName  = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz', ...
                    'Dgx', 'Dgy', 'Dgz', ...
                    'Fsx', 'Fsy', 'Fsz', ...
                    'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
    G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', ...
                    'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};

    %% Create the sub transfer functions
    sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
    sys.G_gm   = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}));
    sys.G_fs   = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz'}));
    sys.G_iff  = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
end