function [] = prepareLinearizeIdentification(args)

arguments
    args.nass_actuator       char   {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
    args.sample_mass   (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
end

initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();

initializeNanoHexapod('actuator', args.nass_actuator);
initializeSample('mass', args.sample_mass);

initializeReferences();
initializeDisturbances('enable', false);

K = tf(zeros(6));
save('./mat/controllers.mat', 'K', '-append');
K_ine = tf(zeros(6));
save('./mat/controllers.mat', 'K_ine', '-append');
K_iff = tf(zeros(6));
save('./mat/controllers.mat', 'K_iff', '-append');
K_dvf = tf(zeros(6));
save('./mat/controllers.mat', 'K_dvf', '-append');