diff --git a/matlab/nano_hexapod_model.slx b/matlab/nano_hexapod_model.slx
index 10f207f..1315481 100644
Binary files a/matlab/nano_hexapod_model.slx and b/matlab/nano_hexapod_model.slx differ
diff --git a/matlab/src/initializeController.m b/matlab/src/initializeController.m
index 1b55d91..88b9188 100644
--- a/matlab/src/initializeController.m
+++ b/matlab/src/initializeController.m
@@ -1,7 +1,7 @@
 function [] = initializeController(args)
 
     arguments
-        args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
+        args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
     end
 
     controller = struct();
@@ -10,30 +10,9 @@ function [] = initializeController(args)
       case 'open-loop'
         controller.type = 1;
         controller.name = 'Open-Loop';
-      case 'dvf'
-        controller.type = 2;
-        controller.name = 'Decentralized Direct Velocity Feedback';
       case 'iff'
-        controller.type = 3;
+        controller.type = 2;
         controller.name = 'Decentralized Integral Force Feedback';
-      case 'hac-dvf'
-        controller.type = 4;
-        controller.name = 'HAC-DVF';
-      case 'ref-track-L'
-        controller.type = 5;
-        controller.name = 'Reference Tracking in the frame of the legs';
-      case 'ref-track-iff-L'
-        controller.type = 6;
-        controller.name = 'Reference Tracking in the frame of the legs + IFF';
-      case 'cascade-hac-lac'
-        controller.type = 7;
-        controller.name = 'Cascade Control + HAC-LAC';
-      case 'hac-iff'
-        controller.type = 8;
-        controller.name = 'HAC-IFF';
-      case 'stabilizing'
-        controller.type = 9;
-        controller.name = 'Stabilizing Controller';
     end
 
     if exist('./mat', 'dir')
diff --git a/simscape-nano-hexapod.org b/simscape-nano-hexapod.org
index 92ce0ee..939664a 100644
--- a/simscape-nano-hexapod.org
+++ b/simscape-nano-hexapod.org
@@ -222,18 +222,19 @@ CLOSED: [2025-02-11 Tue 23:00]
   - *Add parallel stiffness*
   - High pass filter
 
-** TODO [#A] Check all figures
+** DONE [#A] Check all figures
+CLOSED: [2025-02-12 Wed 10:30]
 
 - [ ] Captions
 - [ ] Legend, units, etc...
 
-** TODO [#A] Make sure the Simulink file for the Stewart platform is working well
-SCHEDULED: <2025-02-10 Mon>
+** DONE [#A] Make sure the Simulink file for the Stewart platform is working well
+CLOSED: [2025-02-12 Wed 10:30] SCHEDULED: <2025-02-10 Mon>
 
 It should be the exact model reference that will be included in the NASS model (referenced subsystem).
 
 - [X] Check what was already done for the toolbox
-- [ ] Same parameters for the APA as in previous model (1N/um ?)
+- [X] Same parameters for the APA as in previous model (1N/um ?)
   *kn = 1N/um*
   nano hexapod mass: *15kg*
   cn = 2*0.01*sqrt((ms + mn)*kn)
@@ -249,18 +250,18 @@ It should be the exact model reference that will be included in the NASS model (
   - [X] 3dof
   - [X] 4dof
   - [X] flexible => will be added for chapter 2
-- [-] actuator:
+- [X] actuator:
   - [X] 1dof
   - [X] 2dof (APA)
-  - [ ] FEM => will be added for chapter 2
+  - [X] FEM => will be added for chapter 2
 - [X] plates: cylindrical or .STEP
   Only cylindrical for now
 - [X] Add payload:
   - size: height, diameter/radius
   - Weight
-- [ ] Control configuration
+- [X] Control configuration
 - [X] Log configuration
-- [ ] *Do I want to be able to change each individual parameter value of each strut => no*
+- [X] *Do I want to be able to change each individual parameter value of each strut => no*
 
 ** TODO [#A] For simplicity, maybe not talk at all about parallel stiffness with the force sensor
 This could be the topic of the NASS section.
@@ -1664,7 +1665,10 @@ This high gain, combined with the bounded phase, enables effective damping of th
 
 #+begin_src matlab
 %% Identify the IFF Plant
-initializeSimplifiedNanoHexapod('actuator_kp', 0); % Ignoring parallel stiffness for now
+stewart = initializeSimplifiedNanoHexapod('actuator_kp', 0); % Ignoring parallel stiffness for now
+initializeSample('type', 'cylindrical', 'm', 10, 'H', 300e-3);
+initializeLoggingConfiguration('log', 'none');
+initializeController('type', 'open-loop');
 
 % Input/Output definition
 clear io; io_i = 1;
@@ -2228,7 +2232,7 @@ end
 function [] = initializeController(args)
 
     arguments
-        args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
+        args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
     end
 
     controller = struct();
@@ -2237,30 +2241,9 @@ function [] = initializeController(args)
       case 'open-loop'
         controller.type = 1;
         controller.name = 'Open-Loop';
-      case 'dvf'
-        controller.type = 2;
-        controller.name = 'Decentralized Direct Velocity Feedback';
       case 'iff'
-        controller.type = 3;
+        controller.type = 2;
         controller.name = 'Decentralized Integral Force Feedback';
-      case 'hac-dvf'
-        controller.type = 4;
-        controller.name = 'HAC-DVF';
-      case 'ref-track-L'
-        controller.type = 5;
-        controller.name = 'Reference Tracking in the frame of the legs';
-      case 'ref-track-iff-L'
-        controller.type = 6;
-        controller.name = 'Reference Tracking in the frame of the legs + IFF';
-      case 'cascade-hac-lac'
-        controller.type = 7;
-        controller.name = 'Cascade Control + HAC-LAC';
-      case 'hac-iff'
-        controller.type = 8;
-        controller.name = 'HAC-IFF';
-      case 'stabilizing'
-        controller.type = 9;
-        controller.name = 'Stabilizing Controller';
     end
 
     if exist('./mat', 'dir')