diff --git a/test-bench-id31.bib b/test-bench-id31.bib
index 2f2c7ce..50ce904 100644
--- a/test-bench-id31.bib
+++ b/test-bench-id31.bib
@@ -9,3 +9,19 @@
   keywords        = {metrology},
 }
 
+
+
+@article{hino18_posit_encod_proces_unit,
+  author          = {Ricardo Hino and Pablo Fajardo and Nicolas Janvier and
+                  Thierry Le Ca{\"e}r and Fabien Le Mentec},
+  title           = {A Position Encoder Processing Unit},
+  journal         = {Proceedings of the 16th Int. Conf. on Accelerator and Large
+                  Experimental Control Systems},
+  volume          = {ICALEPCS2017},
+  number          = {nil},
+  pages           = {Spain},
+  year            = 2018,
+  doi             = {10.18429/JACOW-ICALEPCS2017-THPHA072},
+  url             =
+                  {http://jacow.org/icalepcs2017/doi/JACoW-ICALEPCS2017-THPHA072.html},
+}
diff --git a/test-bench-id31.org b/test-bench-id31.org
index cc1db92..f0b3d6e 100644
--- a/test-bench-id31.org
+++ b/test-bench-id31.org
@@ -292,13 +292,13 @@ Yes it converges to zero.
   - Check stability
   - Noise budget
 
-** TODO [#C] Talk about additional delay observed in the plant from u to d (interf)
+** DONE [#C] Talk about additional delay observed in the plant from u to d (interf)
+CLOSED: [2024-11-15 Fri 18:22]
 
 Explain that this is due to digital conversions using additional electronics, but this is inducing additional delays.
 This was latter resolved by directly decoding the correct digital protocol in the Speedgoat.
 
 ** TODO [#B] Verify sign of plants
-SCHEDULED: <2024-11-15 Fri>
 
 Should be inverse compare to encoder output
 
diff --git a/test-bench-id31.pdf b/test-bench-id31.pdf
index 2a7bbfa..42fcc8c 100644
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