diff --git a/matlab/nano_hexapod_model.slx b/matlab/nano_hexapod_model.slx
index 1315481..4b49cd4 100644
Binary files a/matlab/nano_hexapod_model.slx and b/matlab/nano_hexapod_model.slx differ
diff --git a/matlab/subsystems/Stewart_Platform.slx b/matlab/subsystems/nano_hexapod.slx
similarity index 61%
rename from matlab/subsystems/Stewart_Platform.slx
rename to matlab/subsystems/nano_hexapod.slx
index b8faba3..2c93e23 100644
Binary files a/matlab/subsystems/Stewart_Platform.slx and b/matlab/subsystems/nano_hexapod.slx differ
diff --git a/matlab/subsystems/Fixed_Based.slx b/matlab/subsystems/nano_hexapod_fixed_base.slx
similarity index 100%
rename from matlab/subsystems/Fixed_Based.slx
rename to matlab/subsystems/nano_hexapod_fixed_base.slx
diff --git a/matlab/subsystems/Mobile_Platform.slx b/matlab/subsystems/nano_hexapod_mobile_platform.slx
similarity index 100%
rename from matlab/subsystems/Mobile_Platform.slx
rename to matlab/subsystems/nano_hexapod_mobile_platform.slx
diff --git a/matlab/subsystems/stewart_strut.slx b/matlab/subsystems/nano_hexapod_strut.slx
similarity index 100%
rename from matlab/subsystems/stewart_strut.slx
rename to matlab/subsystems/nano_hexapod_strut.slx
diff --git a/simscape-nano-hexapod.org b/simscape-nano-hexapod.org
index 939664a..b55e781 100644
--- a/simscape-nano-hexapod.org
+++ b/simscape-nano-hexapod.org
@@ -267,7 +267,7 @@ It should be the exact model reference that will be included in the NASS model (
 This could be the topic of the NASS section.
 
 ** DONE [#B] Check all notations
-CLOSED: [2025-02-12 Wed 10:21]
+CLOSED: [2025-02-12 Wed 10:42]
 
 - [ ] Make sure they are all defined in correct order
 - [ ] Make sure all vectors and matrices are bold
@@ -287,7 +287,8 @@ Conclusion:
 - [X] Strut displacement: $d_L$ => $\bm{\mathcal{L}}$ and $l_i$
 - [X] Force sensor: $f_m$ => $\bm{f}_n$ and $f_{ni}$
 
-** TODO [#B] Remove all un-used control architecture
+** DONE [#B] Remove all un-used control architecture
+CLOSED: [2025-02-12 Wed 10:42]
 
 - [ ] Make sure HAC-IFF works as explained in the document