diff --git a/nass-control.org b/nass-control.org
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--- a/nass-control.org
+++ b/nass-control.org
@@ -22,7 +22,7 @@
 #+BIND: org-latex-bib-compiler "biber"
 
 #+PROPERTY: header-args:matlab  :session *MATLAB*
-#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :comments no
 #+PROPERTY: header-args:matlab+ :exports none
 #+PROPERTY: header-args:matlab+ :results none
 #+PROPERTY: header-args:matlab+ :eval no-export
@@ -91,12 +91,149 @@
 
 * Notes                                                             :noexport:
 ** Notes
+
 Prefix is =detail_control=
 
+Up to now, basic control strategy ("decentralized" control in the frame of the struts), HAC-LAC
+
+Discussion about:
+- *Use multiple sensors*: Discussion about two sensor control VS HAC-LAC VS Sensor Fusion ?
+- *Decoupling strategies*
+  - [ ] file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org
+- *Control optimization*
+
+** TODO [#A] Fix the outline
+
+Lot is already discussed in:
+- A5 [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A5-simscape-nano-hexapod/simscape-nano-hexapod.org::*Control of Stewart Platforms][Control of Stewart Platforms]]
+- Some will be discussed in the geometry optimization (cubic configuration / decoupling / ...)
+
+- [ ] Maybe do not write this section at all?
+
+** TODO [#B] Papers to be included here
+
+- H-infinity synthesis of complementary filters:
+  [[file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org][file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org]]
+  Or newer version: [[file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org][file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org]]
+- Virtual sensor fusion
+  [[file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.tex][file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.tex]]
+  Maybe not this one.
+- Feedback control based on complementary filters:
+  [[file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org][file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org]]
+
+** TODO [#A] Review of control for Stewart platforms?
+
+[[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Control][Control]]
+
+Or html version: https://research.tdehaeze.xyz/stewart-simscape/docs/bibliography.html
+
+** TODO [#B] Discuss different strategies
+
+- Robust control
+- Adaptive control
+- etc...
+
 * Introduction                                                        :ignore:
 
-* Section 1
-<<sec:detail_control>>
+* Multiple Sensor Control
+<<sec:detail_control_multiple_sensor>>
+
+** Introduction                                                      :ignore:
+
+- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Multi Sensor Control][Multi Sensor Control]]
+
+- [ ] review for Stewart platform => Table
+
+** Cascaded Control and the HAC-LAC architecture
+<<ssec:detail_control_hac_lac>>
+
+** Sensor Fusion and Complementary Filters
+<<ssec:detail_control_sensor_fusion>>
+
+- file:~/Cloud/research/papers/published/dehaeze19_compl_filter_shapin_using_synth/index.org
+  Or newer version: [[file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org][file:~/Cloud/research/papers/dehaeze21_desig_compl_filte/journal/dehaeze21_desig_compl_filte.org]]
+- Design of complementary filters
+
+** Two-Sensor Control
+<<ssec:detail_control_two_sensor>>
+
+[[cite:&beijen14_two_sensor_contr_activ_vibrat]]
+[[cite:&yong16_high_speed_vertic_posit_stage]]
+
+** Conclusion
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+
+* Decoupling Strategies
+<<sec:detail_control_decoupling>>
+
+** Introduction                                                      :ignore:
+
+Assumptions:
+- parallel manipulators
+
+- file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org
+- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Decoupling Strategies][Decoupling Strategies]]
+- file:/home/thomas/Cloud/meetings/group-meetings-me/2021-08-16-Nano-Hexapod-Control/2021-08-16-Nano-Hexapod-Control.org
+
+- [ ] What example should be taken?
+  3dof system? stewart platform?
+
+** Interaction Analysis
+
+** Decentralized Control
+
+** Center of Stiffness
+
+- Example
+- Show
+
+** Center of Mass
+
+** Modal Decoupling
+
+** Data Based Decoupling
+
+- Static decoupling
+- SVD
+
+** Conclusion
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+
+* Controller Optimization
+<<sec:detail_control_optimization>>
+
+** Introduction                                                      :ignore:
+
+** Decoupled Open-Loop Shaping
+<<ssec:detail_control_loop_shaping>>
+
+- Explain procedure when applying open-loop shaping
+- Lead, Lag, Notches, Check Stability, c2d, etc...
+
+** Model Based Design
+<<ssec:detail_control_model_based>>
+
+- [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Multivariable Control][Multivariable Control]]
+- Talk about Caio's thesis?
+- Review of model based design (LQG, H-Infinity) applied to Stewart platform
+- Difficulty to specify robustness to change of payload mass
+
+** Closed-Loop Shaping using Complementary Filters
+<<ssec:detail_control_complementary_filter_shaping>>
+
+- [ ] *Or maybe the full section about that ?*
+
+- file:~/Cloud/research/papers/published/verma19_virtu_senso_fusio_high_preci_contr/elsarticle-template-harv.pdf
+- file:~/Cloud/research/papers/dehaeze20_virtu_senso_fusio/index.org
+
+** Conclusion
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 
 * Conclusion
 :PROPERTIES: