diff --git a/docs/active-damping.html b/docs/active-damping.html
index fd80668..3daefd6 100644
--- a/docs/active-damping.html
+++ b/docs/active-damping.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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-<!-- 2020-02-13 jeu. 16:46 -->
+<!-- 2020-02-27 jeu. 14:16 -->
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 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Decentralized Active Damping</title>
@@ -201,50 +201,28 @@
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@@ -271,25 +249,32 @@ for the JavaScript code in this tag.
 <li><a href="#orgd59c804">1. Inertial Control</a>
 <ul>
 <li><a href="#org5f749c8">1.1. Identification of the Dynamics</a></li>
-<li><a href="#org07e81b1">1.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#org53a0870">1.3. Obtained Damping</a></li>
-<li><a href="#org51b20eb">1.4. Conclusion</a></li>
+<li><a href="#orgd637197">1.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#orgd895eeb">1.3. Obtained Damping</a></li>
+<li><a href="#orgeaf5ef8">1.4. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#org74c7eb4">2. Integral Force Feedback</a>
 <ul>
-<li><a href="#org9e45139">2.1. Identification of the Dynamics with perfect Joints</a></li>
-<li><a href="#org494bb35">2.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#org947ca92">2.3. Obtained Damping</a></li>
-<li><a href="#orgade2418">2.4. Conclusion</a></li>
+<li><a href="#orgcaa6199">2.1. Identification of the Dynamics with perfect Joints</a></li>
+<li><a href="#org1910546">2.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#org9e1f2e2">2.3. Obtained Damping</a></li>
+<li><a href="#org405813e">2.4. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#org08917d6">3. Direct Velocity Feedback</a>
 <ul>
-<li><a href="#orgcaa6199">3.1. Identification of the Dynamics with perfect Joints</a></li>
-<li><a href="#orgd637197">3.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
-<li><a href="#orgd895eeb">3.3. Obtained Damping</a></li>
-<li><a href="#orgeaf5ef8">3.4. Conclusion</a></li>
+<li><a href="#org7313778">3.1. Identification of the Dynamics with perfect Joints</a></li>
+<li><a href="#org3014959">3.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
+<li><a href="#orga144352">3.3. Obtained Damping</a></li>
+<li><a href="#org004b094">3.4. Conclusion</a></li>
+</ul>
+</li>
+<li><a href="#org183f3f2">4. Compliance and Transmissibility Comparison</a>
+<ul>
+<li><a href="#org0ed1499">4.1. Initialization</a></li>
+<li><a href="#orgcd64c04">4.2. Identification</a></li>
+<li><a href="#orgd30c62d">4.3. Results</a></li>
 </ul>
 </li>
 </ul>
@@ -343,7 +328,7 @@ stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</spa
 </div>
 
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
 payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>
@@ -380,8 +365,8 @@ The transfer function from actuator forces to force sensors is shown in Figure <
 </div>
 </div>
 
-<div id="outline-container-org07e81b1" class="outline-3">
-<h3 id="org07e81b1"><span class="section-number-3">1.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-orgd637197" class="outline-3">
+<h3 id="orgd637197"><span class="section-number-3">1.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-1-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
@@ -417,8 +402,8 @@ The new dynamics from force actuator to force sensor is shown in Figure <a href=
 </div>
 </div>
 
-<div id="outline-container-org53a0870" class="outline-3">
-<h3 id="org53a0870"><span class="section-number-3">1.3</span> Obtained Damping</h3>
+<div id="outline-container-orgd895eeb" class="outline-3">
+<h3 id="orgd895eeb"><span class="section-number-3">1.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-1-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -443,8 +428,8 @@ The root locus is shown in figure <a href="#org9af9e33">3</a>.
 </div>
 </div>
 
-<div id="outline-container-org51b20eb" class="outline-3">
-<h3 id="org51b20eb"><span class="section-number-3">1.4</span> Conclusion</h3>
+<div id="outline-container-orgeaf5ef8" class="outline-3">
+<h3 id="orgeaf5ef8"><span class="section-number-3">1.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-1-4">
 <div class="important">
 <p>
@@ -475,8 +460,8 @@ To run the script, open the Simulink Project, and type <code>run active_damping_
 </div>
 </div>
 
-<div id="outline-container-org9e45139" class="outline-3">
-<h3 id="org9e45139"><span class="section-number-3">2.1</span> Identification of the Dynamics with perfect Joints</h3>
+<div id="outline-container-orgcaa6199" class="outline-3">
+<h3 id="orgcaa6199"><span class="section-number-3">2.1</span> Identification of the Dynamics with perfect Joints</h3>
 <div class="outline-text-3" id="text-2-1">
 <p>
 We first initialize the Stewart platform without joint stiffness.
@@ -497,11 +482,16 @@ stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</spa
 </div>
 
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
 payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>
 
+<div class="org-src-container">
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
+</pre>
+</div>
+
 <p>
 And we identify the dynamics from force actuators to force sensors.
 </p>
@@ -537,8 +527,8 @@ The transfer function from actuator forces to force sensors is shown in Figure <
 </div>
 </div>
 
-<div id="outline-container-org494bb35" class="outline-3">
-<h3 id="org494bb35"><span class="section-number-3">2.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-org1910546" class="outline-3">
+<h3 id="org1910546"><span class="section-number-3">2.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-2-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
@@ -574,8 +564,8 @@ The new dynamics from force actuator to force sensor is shown in Figure <a href=
 </div>
 </div>
 
-<div id="outline-container-org947ca92" class="outline-3">
-<h3 id="org947ca92"><span class="section-number-3">2.3</span> Obtained Damping</h3>
+<div id="outline-container-org9e1f2e2" class="outline-3">
+<h3 id="org9e1f2e2"><span class="section-number-3">2.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-2-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -607,8 +597,8 @@ The root locus is shown in figure <a href="#orge21bbea">6</a> and the obtained p
 </div>
 </div>
 
-<div id="outline-container-orgade2418" class="outline-3">
-<h3 id="orgade2418"><span class="section-number-3">2.4</span> Conclusion</h3>
+<div id="outline-container-org405813e" class="outline-3">
+<h3 id="org405813e"><span class="section-number-3">2.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-2-4">
 <div class="important">
 <p>
@@ -640,8 +630,8 @@ To run the script, open the Simulink Project, and type <code>run active_damping_
 </div>
 </div>
 
-<div id="outline-container-orgcaa6199" class="outline-3">
-<h3 id="orgcaa6199"><span class="section-number-3">3.1</span> Identification of the Dynamics with perfect Joints</h3>
+<div id="outline-container-org7313778" class="outline-3">
+<h3 id="org7313778"><span class="section-number-3">3.1</span> Identification of the Dynamics with perfect Joints</h3>
 <div class="outline-text-3" id="text-3-1">
 <p>
 We first initialize the Stewart platform without joint stiffness.
@@ -662,7 +652,7 @@ stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</spa
 </div>
 
 <div class="org-src-container">
-<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
 payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
 </pre>
 </div>
@@ -703,8 +693,8 @@ The transfer function from actuator forces to relative motion sensors is shown i
 </div>
 
 
-<div id="outline-container-orgd637197" class="outline-3">
-<h3 id="orgd637197"><span class="section-number-3">3.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
+<div id="outline-container-org3014959" class="outline-3">
+<h3 id="org3014959"><span class="section-number-3">3.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
 <div class="outline-text-3" id="text-3-2">
 <p>
 We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
@@ -740,8 +730,8 @@ The new dynamics from force actuator to relative motion sensor is shown in Figur
 </div>
 </div>
 
-<div id="outline-container-orgd895eeb" class="outline-3">
-<h3 id="orgd895eeb"><span class="section-number-3">3.3</span> Obtained Damping</h3>
+<div id="outline-container-orga144352" class="outline-3">
+<h3 id="orga144352"><span class="section-number-3">3.3</span> Obtained Damping</h3>
 <div class="outline-text-3" id="text-3-3">
 <p>
 The control is a performed in a decentralized manner.
@@ -766,14 +756,115 @@ The root locus is shown in figure <a href="#org277d60d">10</a>.
 </div>
 </div>
 
-<div id="outline-container-orgeaf5ef8" class="outline-3">
-<h3 id="orgeaf5ef8"><span class="section-number-3">3.4</span> Conclusion</h3>
+<div id="outline-container-org004b094" class="outline-3">
+<h3 id="org004b094"><span class="section-number-3">3.4</span> Conclusion</h3>
 <div class="outline-text-3" id="text-3-4">
 <div class="important">
 <p>
 Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors.
 </p>
 
+</div>
+</div>
+</div>
+</div>
+<div id="outline-container-org183f3f2" class="outline-2">
+<h2 id="org183f3f2"><span class="section-number-2">4</span> Compliance and Transmissibility Comparison</h2>
+<div class="outline-text-2" id="text-4">
+</div>
+<div id="outline-container-org0ed1499" class="outline-3">
+<h3 id="org0ed1499"><span class="section-number-3">4.1</span> Initialization</h3>
+<div class="outline-text-3" id="text-4-1">
+<p>
+We first initialize the Stewart platform without joint stiffness.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
+stewart = generateGeneralConfiguration(stewart);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart);
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
+stewart = initializeCylindricalPlatforms(stewart);
+stewart = initializeCylindricalStruts(stewart);
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+</pre>
+</div>
+
+<p>
+The rotation point of the ground is located at the origin of frame \(\{A\}\).
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgcd64c04" class="outline-3">
+<h3 id="orgcd64c04"><span class="section-number-3">4.2</span> Identification</h3>
+<div class="outline-text-3" id="text-4-2">
+<p>
+Let&rsquo;s first identify the transmissibility and compliance in the open-loop case.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
+[T_ol, T_norm_ol, freqs] = computeTransmissibility();
+[C_ol, C_norm_ol, freqs] = computeCompliance();
+</pre>
+</div>
+
+<p>
+Now, let&rsquo;s identify the transmissibility and compliance for the Integral Force Feedback architecture.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'iff'</span>);
+G_iff = (2e4<span class="org-type">/</span>s)<span class="org-type">*</span>eye(6);
+
+[T_iff, T_norm_iff, <span class="org-type">~</span>] = computeTransmissibility();
+[C_iff, C_norm_iff, <span class="org-type">~</span>] = computeCompliance();
+</pre>
+</div>
+
+<p>
+And for the Direct Velocity Feedback.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'dvf'</span>);
+G_dvf = 1e4<span class="org-type">*</span>s<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>5000)<span class="org-type">*</span>eye(6);
+
+[T_dvf, T_norm_dvf, <span class="org-type">~</span>] = computeTransmissibility();
+[C_dvf, C_norm_dvf, <span class="org-type">~</span>] = computeCompliance();
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgd30c62d" class="outline-3">
+<h3 id="orgd30c62d"><span class="section-number-3">4.3</span> Results</h3>
+<div class="outline-text-3" id="text-4-3">
+
+<div id="org6691389" class="figure">
+<p><img src="figs/transmissibility_iff_dvf.png" alt="transmissibility_iff_dvf.png" />
+</p>
+<p><span class="figure-number">Figure 11: </span>Obtained transmissibility for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/transmissibility_iff_dvf.png">png</a>, <a href="./figs/transmissibility_iff_dvf.pdf">pdf</a>)</p>
+</div>
+
+
+<div id="orgd29218a" class="figure">
+<p><img src="figs/compliance_iff_dvf.png" alt="compliance_iff_dvf.png" />
+</p>
+<p><span class="figure-number">Figure 12: </span>Obtained compliance for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/compliance_iff_dvf.png">png</a>, <a href="./figs/compliance_iff_dvf.pdf">pdf</a>)</p>
+</div>
+
+
+<div id="org2ee9711" class="figure">
+<p><img src="figs/frobenius_norm_T_C_iff_dvf.png" alt="frobenius_norm_T_C_iff_dvf.png" />
+</p>
+<p><span class="figure-number">Figure 13: </span>Frobenius norm of the Transmissibility and Compliance Matrices (<a href="./figs/frobenius_norm_T_C_iff_dvf.png">png</a>, <a href="./figs/frobenius_norm_T_C_iff_dvf.pdf">pdf</a>)</p>
 </div>
 </div>
 </div>
@@ -781,7 +872,7 @@ Joint stiffness does increase the resonance frequencies of the system but does n
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-13 jeu. 16:46</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/docs/control-study.html b/docs/control-study.html
index 75ebcc2..a5c830b 100644
--- a/docs/control-study.html
+++ b/docs/control-study.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-13 jeu. 14:51 -->
+<!-- 2020-02-27 jeu. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Control Study</title>
@@ -201,50 +201,28 @@
 <script src="./js/jquery.stickytableheaders.min.js"></script>
 <script src="./js/readtheorg.js"></script>
 <script type="text/javascript">
-/*
-@licstart  The following is the entire license notice for the
-JavaScript code in this tag.
-
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-The JavaScript code in this tag is free software: you can
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-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
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-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
-
-@licend  The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
 <!--/*--><![CDATA[/*><!--*/
- function CodeHighlightOn(elem, id)
- {
-   var target = document.getElementById(id);
-   if(null != target) {
-     elem.cacheClassElem = elem.className;
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-     target.className = "code-highlighted";
-     elem.className   = "code-highlighted";
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+     {
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+       if(null != target) {
+         elem.cacheClassElem = elem.className;
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+         elem.className   = "code-highlighted";
+       }
+     }
+     function CodeHighlightOff(elem, id)
+     {
+       var target = document.getElementById(id);
+       if(elem.cacheClassElem)
+         elem.className = elem.cacheClassElem;
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+         target.className = elem.cacheClassTarget;
+     }
+    /*]]>*///-->
+// @license-end
 </script>
 <script>
       MathJax = {
@@ -277,6 +255,18 @@ for the JavaScript code in this tag.
 <li><a href="#orga9fb0f5">1.5. Controller Design</a></li>
 </ul>
 </li>
+<li><a href="#org1ce6b23">2. Functions</a>
+<ul>
+<li><a href="#org9b036f8">2.1. <code>initializeController</code>: Initialize the Controller</a>
+<ul>
+<li><a href="#org89608d1">Function description</a></li>
+<li><a href="#orgb457316">Optional Parameters</a></li>
+<li><a href="#orgad0bd08">Structure initialization</a></li>
+<li><a href="#org05c3878">Add Type</a></li>
+</ul>
+</li>
+</ul>
+</li>
 </ul>
 </div>
 </div>
@@ -387,10 +377,79 @@ Kl = Kl <span class="org-type">*</span> eye(6);
 </div>
 </div>
 </div>
+
+<div id="outline-container-org1ce6b23" class="outline-2">
+<h2 id="org1ce6b23"><span class="section-number-2">2</span> Functions</h2>
+<div class="outline-text-2" id="text-2">
+</div>
+<div id="outline-container-org9b036f8" class="outline-3">
+<h3 id="org9b036f8"><span class="section-number-3">2.1</span> <code>initializeController</code>: Initialize the Controller</h3>
+<div class="outline-text-3" id="text-2-1">
+<p>
+<a id="org339969f"></a>
+</p>
+</div>
+
+<div id="outline-container-org89608d1" class="outline-4">
+<h4 id="org89608d1">Function description</h4>
+<div class="outline-text-4" id="text-org89608d1">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[controller]</span> = <span class="org-function-name">initializeController</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeController - Initialize the Controller</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [] = initializeController(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args - Can have the following fields:</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgb457316" class="outline-4">
+<h4 id="orgb457316">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgb457316">
+<div class="org-src-container">
+<pre class="src src-matlab">arguments
+  args.type   char   {mustBeMember(args.type, {<span class="org-string">'open-loop'</span>, <span class="org-string">'iff'</span>, <span class="org-string">'dvf'</span>})} = <span class="org-string">'open-loop'</span>
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgad0bd08" class="outline-4">
+<h4 id="orgad0bd08">Structure initialization</h4>
+<div class="outline-text-4" id="text-orgad0bd08">
+<div class="org-src-container">
+<pre class="src src-matlab">controller = struct();
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org05c3878" class="outline-4">
+<h4 id="org05c3878">Add Type</h4>
+<div class="outline-text-4" id="text-org05c3878">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
+  <span class="org-keyword">case</span> <span class="org-string">'open-loop'</span>
+    controller.type = 0;
+  <span class="org-keyword">case</span> <span class="org-string">'iff'</span>
+    controller.type = 1;
+  <span class="org-keyword">case</span> <span class="org-string">'dvf'</span>
+    controller.type = 2;
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+</div>
+</div>
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-13 jeu. 14:51</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/docs/cubic-configuration.html b/docs/cubic-configuration.html
index 7562bd4..7c2a76b 100644
--- a/docs/cubic-configuration.html
+++ b/docs/cubic-configuration.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-14 ven. 14:11 -->
+<!-- 2020-02-27 jeu. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Cubic configuration for the Stewart Platform</title>
@@ -201,50 +201,28 @@
 <script src="./js/jquery.stickytableheaders.min.js"></script>
 <script src="./js/readtheorg.js"></script>
 <script type="text/javascript">
-/*
-@licstart  The following is the entire license notice for the
-JavaScript code in this tag.
-
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-
-The JavaScript code in this tag is free software: you can
-redistribute it and/or modify it under the terms of the GNU
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-Foundation, either version 3 of the License, or (at your option)
-any later version.  The code is distributed WITHOUT ANY WARRANTY;
-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
-may distribute non-source (e.g., minimized or compacted) forms of
-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
-
-@licend  The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
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- function CodeHighlightOn(elem, id)
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+         target.className = elem.cacheClassTarget;
+     }
+    /*]]>*///-->
+// @license-end
 </script>
 <script>
       MathJax = {
@@ -274,33 +252,33 @@ for the JavaScript code in this tag.
 <li><a href="#orga88e79a">1.2. Cubic Stewart platform centered with the cube center - Jacobian not estimated at the cube center</a></li>
 <li><a href="#orge02ec88">1.3. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the cube center</a></li>
 <li><a href="#org43fd7e4">1.4. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the Stewart platform center</a></li>
-<li><a href="#orgbde7788">1.5. Conclusion</a></li>
+<li><a href="#orgd6c60aa">1.5. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#orgd70418b">2. Configuration with the Cube&rsquo;s center above the mobile platform</a>
 <ul>
 <li><a href="#org8afa645">2.1. Having Cube&rsquo;s center above the top platform</a></li>
-<li><a href="#orgc0314ec">2.2. Conclusion</a></li>
+<li><a href="#org78f0f9c">2.2. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#orgcc4ecce">3. Cubic size analysis</a>
 <ul>
 <li><a href="#org0029d8c">3.1. Analysis</a></li>
-<li><a href="#orgb3ca361">3.2. Conclusion</a></li>
+<li><a href="#org53a1ab8">3.2. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#orgf09da67">4. Dynamic Coupling in the Cartesian Frame</a>
 <ul>
 <li><a href="#org5fe01ec">4.1. Cube&rsquo;s center at the Center of Mass of the mobile platform</a></li>
 <li><a href="#org4cb2a36">4.2. Cube&rsquo;s center not coincident with the Mass of the Mobile platform</a></li>
-<li><a href="#orge33568e">4.3. Conclusion</a></li>
+<li><a href="#orga0d81dc">4.3. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#org8f26dc0">5. Dynamic Coupling between actuators and sensors of each strut</a>
 <ul>
 <li><a href="#org6e391c9">5.1. Coupling between the actuators and sensors - Cubic Architecture</a></li>
 <li><a href="#orgafd808d">5.2. Coupling between the actuators and sensors - Non-Cubic Architecture</a></li>
-<li><a href="#org1a90044">5.3. Conclusion</a></li>
+<li><a href="#org3e2b41c">5.3. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#org3044455">6. Functions</a>
@@ -848,8 +826,8 @@ stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'
 </div>
 </div>
 
-<div id="outline-container-orgbde7788" class="outline-3">
-<h3 id="orgbde7788"><span class="section-number-3">1.5</span> Conclusion</h3>
+<div id="outline-container-orgd6c60aa" class="outline-3">
+<h3 id="orgd6c60aa"><span class="section-number-3">1.5</span> Conclusion</h3>
 <div class="outline-text-3" id="text-1-5">
 <div class="important">
 <p>
@@ -1186,8 +1164,8 @@ FOc  = H <span class="org-type">+</span> MO_B; <span class="org-comment">% Cente
 </div>
 </div>
 
-<div id="outline-container-orgc0314ec" class="outline-3">
-<h3 id="orgc0314ec"><span class="section-number-3">2.2</span> Conclusion</h3>
+<div id="outline-container-org78f0f9c" class="outline-3">
+<h3 id="org78f0f9c"><span class="section-number-3">2.2</span> Conclusion</h3>
 <div class="outline-text-3" id="text-2-2">
 <div class="important">
 <p>
@@ -1273,8 +1251,8 @@ We also find that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) are varyi
 </div>
 </div>
 
-<div id="outline-container-orgb3ca361" class="outline-3">
-<h3 id="orgb3ca361"><span class="section-number-3">3.2</span> Conclusion</h3>
+<div id="outline-container-org53a1ab8" class="outline-3">
+<h3 id="org53a1ab8"><span class="section-number-3">3.2</span> Conclusion</h3>
 <div class="outline-text-3" id="text-3-2">
 <p>
 We observe that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) increase linearly with the cube size.
@@ -1629,8 +1607,8 @@ This was expected as the mass matrix is not diagonal (the Center of Mass of the
 </div>
 </div>
 
-<div id="outline-container-orge33568e" class="outline-3">
-<h3 id="orge33568e"><span class="section-number-3">4.3</span> Conclusion</h3>
+<div id="outline-container-orga0d81dc" class="outline-3">
+<h3 id="orga0d81dc"><span class="section-number-3">4.3</span> Conclusion</h3>
 <div class="outline-text-3" id="text-4-3">
 <div class="important">
 <p>
@@ -1812,8 +1790,8 @@ And we identify the dynamics from the actuator forces \(\tau_{i}\) to the relati
 </div>
 </div>
 
-<div id="outline-container-org1a90044" class="outline-3">
-<h3 id="org1a90044"><span class="section-number-3">5.3</span> Conclusion</h3>
+<div id="outline-container-org3e2b41c" class="outline-3">
+<h3 id="org3e2b41c"><span class="section-number-3">5.3</span> Conclusion</h3>
 <div class="outline-text-3" id="text-5-3">
 <div class="important">
 <p>
@@ -1984,7 +1962,7 @@ stewart.platform_M.Mb = Mb;
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-14 ven. 14:11</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/docs/dynamics-study.html b/docs/dynamics-study.html
index 4f2e730..8e273f8 100644
--- a/docs/dynamics-study.html
+++ b/docs/dynamics-study.html
@@ -4,7 +4,7 @@
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 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-14 ven. 14:11 -->
+<!-- 2020-02-27 jeu. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Dynamics Study</title>
@@ -201,50 +201,28 @@
 <script src="./js/jquery.stickytableheaders.min.js"></script>
 <script src="./js/readtheorg.js"></script>
 <script type="text/javascript">
-/*
-@licstart  The following is the entire license notice for the
-JavaScript code in this tag.
-
-Copyright (C) 2012-2020 Free Software Foundation, Inc.
-
-The JavaScript code in this tag is free software: you can
-redistribute it and/or modify it under the terms of the GNU
-General Public License (GNU GPL) as published by the Free Software
-Foundation, either version 3 of the License, or (at your option)
-any later version.  The code is distributed WITHOUT ANY WARRANTY;
-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
-may distribute non-source (e.g., minimized or compacted) forms of
-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
-
-@licend  The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
 <!--/*--><![CDATA[/*><!--*/
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-     elem.className = elem.cacheClassElem;
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-     target.className = elem.cacheClassTarget;
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+     {
+       var target = document.getElementById(id);
+       if(null != target) {
+         elem.cacheClassElem = elem.className;
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+     }
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+     {
+       var target = document.getElementById(id);
+       if(elem.cacheClassElem)
+         elem.className = elem.cacheClassElem;
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+     }
+    /*]]>*///-->
+// @license-end
 </script>
 <script>
       MathJax = {
@@ -272,13 +250,13 @@ for the JavaScript code in this tag.
 <ul>
 <li><a href="#org4509b7d">1.1. Comparison with fixed support</a></li>
 <li><a href="#org8662186">1.2. Comparison with a flexible support</a></li>
-<li><a href="#org1cbdf9a">1.3. Conclusion</a></li>
+<li><a href="#org03b2957">1.3. Conclusion</a></li>
 </ul>
 </li>
 <li><a href="#org81ab204">2. Comparison of the static transfer function and the Compliance matrix</a>
 <ul>
 <li><a href="#orge7e7242">2.1. Analysis</a></li>
-<li><a href="#org03b2957">2.2. Conclusion</a></li>
+<li><a href="#org920d3c4">2.2. Conclusion</a></li>
 </ul>
 </li>
 </ul>
@@ -463,8 +441,8 @@ And thus \(\mathcal{F}_{x}\) and \(\mathcal{F}_{x,\text{ext}}\) have clearly <b>
 </div>
 
 
-<div id="outline-container-org1cbdf9a" class="outline-3">
-<h3 id="org1cbdf9a"><span class="section-number-3">1.3</span> Conclusion</h3>
+<div id="outline-container-org03b2957" class="outline-3">
+<h3 id="org03b2957"><span class="section-number-3">1.3</span> Conclusion</h3>
 <div class="outline-text-3" id="text-1-3">
 <div class="important">
 <p>
@@ -525,11 +503,6 @@ options.SampleTime = 0;
 <span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
 mdl = <span class="org-string">'stewart_platform_model'</span>;
 
-<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
-clear io; io_i = 1;
-io(io_i) = linio([mdl, <span class="org-string">'/F'</span>], 1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1;
-io(io_i) = linio([mdl, <span class="org-string">'/X'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1;
-
 <span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
 clear io; io_i = 1;
 io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>],              1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
@@ -702,8 +675,8 @@ And now at the Compliance matrix.
 </div>
 </div>
 
-<div id="outline-container-org03b2957" class="outline-3">
-<h3 id="org03b2957"><span class="section-number-3">2.2</span> Conclusion</h3>
+<div id="outline-container-org920d3c4" class="outline-3">
+<h3 id="org920d3c4"><span class="section-number-3">2.2</span> Conclusion</h3>
 <div class="outline-text-3" id="text-2-2">
 <div class="important">
 <p>
@@ -717,7 +690,7 @@ The low frequency transfer function matrix from \(\mathcal{\bm{F}}\) to \(\mathc
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-14 ven. 14:11</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/docs/figs/compliance_iff_dvf.pdf b/docs/figs/compliance_iff_dvf.pdf
new file mode 100644
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diff --git a/docs/figs/frobenius_norm_T_C_iff_dvf.pdf b/docs/figs/frobenius_norm_T_C_iff_dvf.pdf
new file mode 100644
index 0000000..f17135b
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new file mode 100644
index 0000000..e9b52ed
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diff --git a/docs/figs/transmissibility_iff_dvf.pdf b/docs/figs/transmissibility_iff_dvf.pdf
new file mode 100644
index 0000000..ce33db6
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diff --git a/docs/figs/transmissibility_iff_dvf.png b/docs/figs/transmissibility_iff_dvf.png
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diff --git a/docs/identification.html b/docs/identification.html
index 3e79141..8e47ae3 100644
--- a/docs/identification.html
+++ b/docs/identification.html
@@ -4,7 +4,7 @@
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 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-13 jeu. 15:44 -->
+<!-- 2020-02-27 jeu. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Identification of the Stewart Platform using Simscape</title>
@@ -201,50 +201,28 @@
 <script src="./js/jquery.stickytableheaders.min.js"></script>
 <script src="./js/readtheorg.js"></script>
 <script type="text/javascript">
-/*
-@licstart  The following is the entire license notice for the
-JavaScript code in this tag.
-
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-
-The JavaScript code in this tag is free software: you can
-redistribute it and/or modify it under the terms of the GNU
-General Public License (GNU GPL) as published by the Free Software
-Foundation, either version 3 of the License, or (at your option)
-any later version.  The code is distributed WITHOUT ANY WARRANTY;
-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
-may distribute non-source (e.g., minimized or compacted) forms of
-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
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-@licend  The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
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@@ -277,13 +255,58 @@ for the JavaScript code in this tag.
 <li><a href="#orge7b97c8">1.5. Visualizing the modes</a></li>
 </ul>
 </li>
+<li><a href="#org2891722">2. Transmissibility Analysis</a>
+<ul>
+<li><a href="#org8c667e9">2.1. Initialize the Stewart platform</a></li>
+<li><a href="#org5338f20">2.2. Transmissibility</a></li>
+</ul>
+</li>
+<li><a href="#orgc94edbd">3. Compliance Analysis</a>
+<ul>
+<li><a href="#orgc8e1f51">3.1. Initialize the Stewart platform</a></li>
+<li><a href="#org1177029">3.2. Compliance</a></li>
+</ul>
+</li>
+<li><a href="#org68ca336">4. Functions</a>
+<ul>
+<li><a href="#org487c4d4">4.1. Compute the Transmissibility</a>
+<ul>
+<li><a href="#org851f84d">Function description</a></li>
+<li><a href="#orgf5e24cd">Optional Parameters</a></li>
+<li><a href="#org4629501">Identification of the Transmissibility Matrix</a></li>
+<li><a href="#org989379a">Computation of the Frobenius norm</a></li>
+</ul>
+</li>
+<li><a href="#org50e35a6">4.2. Compute the Compliance</a>
+<ul>
+<li><a href="#org64fc1e2">Function description</a></li>
+<li><a href="#org54cab00">Optional Parameters</a></li>
+<li><a href="#orgef06b63">Identification of the Compliance Matrix</a></li>
+<li><a href="#org6f63d37">Computation of the Frobenius norm</a></li>
+</ul>
+</li>
+</ul>
+</li>
 </ul>
 </div>
 </div>
 
+<p>
+In this document, we discuss the various methods to identify the behavior of the Stewart platform.
+</p>
+
+<ul class="org-ul">
+<li><a href="#org7981e88">1</a></li>
+<li><a href="#orga989615">2</a></li>
+<li><a href="#org4579374">3</a></li>
+</ul>
+
 <div id="outline-container-orgcb2f4c2" class="outline-2">
 <h2 id="orgcb2f4c2"><span class="section-number-2">1</span> Modal Analysis of the Stewart Platform</h2>
 <div class="outline-text-2" id="text-1">
+<p>
+<a id="org7981e88"></a>
+</p>
 </div>
 <div id="outline-container-org66d09e9" class="outline-3">
 <h3 id="org66d09e9"><span class="section-number-3">1.1</span> Initialize the Stewart Platform</h3>
@@ -577,10 +600,521 @@ Save the movie of the mode shape.
 </div>
 </div>
 </div>
+
+<div id="outline-container-org2891722" class="outline-2">
+<h2 id="org2891722"><span class="section-number-2">2</span> Transmissibility Analysis</h2>
+<div class="outline-text-2" id="text-2">
+<p>
+<a id="orga989615"></a>
+</p>
+</div>
+<div id="outline-container-org8c667e9" class="outline-3">
+<h3 id="org8c667e9"><span class="section-number-3">2.1</span> Initialize the Stewart platform</h3>
+<div class="outline-text-3" id="text-2-1">
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
+stewart = generateGeneralConfiguration(stewart);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart);
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
+stewart = initializeCylindricalPlatforms(stewart);
+stewart = initializeCylindricalStruts(stewart);
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'accelerometer'</span>, <span class="org-string">'freq'</span>, 5e3);
+</pre>
+</div>
+
+<p>
+We set the rotation point of the ground to be at the same point at frames \(\{A\}\) and \(\{B\}\).
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org5338f20" class="outline-3">
+<h3 id="org5338f20"><span class="section-number-3">2.2</span> Transmissibility</h3>
+<div class="outline-text-3" id="text-2-2">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
+options = linearizeOptions;
+options.SampleTime = 0;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
+clear io; io_i = 1;
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances/D_w'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Base Motion [m, rad]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Absolute Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion [m, rad]</span>
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
+T = linearize(mdl, io, options);
+T.InputName = {<span class="org-string">'Wdx'</span>, <span class="org-string">'Wdy'</span>, <span class="org-string">'Wdz'</span>, <span class="org-string">'Wrx'</span>, <span class="org-string">'Wry'</span>, <span class="org-string">'Wrz'</span>};
+T.OutputName = {<span class="org-string">'Edx'</span>, <span class="org-string">'Edy'</span>, <span class="org-string">'Edz'</span>, <span class="org-string">'Erx'</span>, <span class="org-string">'Ery'</span>, <span class="org-string">'Erz'</span>};
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = logspace(1, 4, 1000);
+
+<span class="org-type">figure</span>;
+<span class="org-keyword">for</span> <span class="org-variable-name">ix</span> = <span class="org-constant">1:6</span>
+  <span class="org-keyword">for</span> <span class="org-variable-name">iy</span> = <span class="org-constant">1:6</span>
+    subplot(6, 6, (ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy);
+    hold on;
+    plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, <span class="org-string">'Hz'</span>))), <span class="org-string">'k-'</span>);
+    <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+    ylim([1e<span class="org-type">-</span>5, 10]);
+    xlim([freqs(1), freqs(end)]);
+    <span class="org-keyword">if</span> ix <span class="org-type">&lt;</span> 6
+      xticklabels({});
+    <span class="org-keyword">end</span>
+    <span class="org-keyword">if</span> iy <span class="org-type">&gt;</span> 1
+      yticklabels({});
+    <span class="org-keyword">end</span>
+  <span class="org-keyword">end</span>
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<p>
+From <a class='org-ref-reference' href="#preumont07_six_axis_singl_stage_activ">preumont07_six_axis_singl_stage_activ</a>, one can use the Frobenius norm of the transmissibility matrix to obtain a scalar indicator of the transmissibility performance of the system:
+</p>
+\begin{align*}
+  \| \bm{T}(\omega) \| &= \sqrt{\text{Trace}[\bm{T}(\omega) \bm{T}(\omega)^H]}\\
+                       &= \sqrt{\Sigma_{i=1}^6 \Sigma_{j=1}^6 |T_{ij}|^2}
+\end{align*}
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = logspace(1, 4, 1000);
+
+T_norm = zeros(length(freqs), 1);
+
+<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(freqs)</span>
+  T_norm(<span class="org-constant">i</span>) = sqrt(trace(freqresp(T, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">*</span>freqresp(T, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">'</span>));
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<p>
+And we normalize by a factor \(\sqrt{6}\) to obtain a performance metric comparable to the transmissibility of a one-axis isolator:
+\[ \Gamma(\omega) = \|\bm{T}(\omega)\| / \sqrt{6} \]
+</p>
+
+<div class="org-src-container">
+<pre class="src src-matlab">Gamma = T_norm<span class="org-type">/</span>sqrt(6);
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-type">figure</span>;
+plot(freqs, Gamma)
+<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+</pre>
+</div>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgc94edbd" class="outline-2">
+<h2 id="orgc94edbd"><span class="section-number-2">3</span> Compliance Analysis</h2>
+<div class="outline-text-2" id="text-3">
+<p>
+<a id="org4579374"></a>
+</p>
+</div>
+<div id="outline-container-orgc8e1f51" class="outline-3">
+<h3 id="orgc8e1f51"><span class="section-number-3">3.1</span> Initialize the Stewart platform</h3>
+<div class="outline-text-3" id="text-3-1">
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
+stewart = generateGeneralConfiguration(stewart);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart);
+stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
+stewart = initializeCylindricalPlatforms(stewart);
+stewart = initializeCylindricalStruts(stewart);
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'accelerometer'</span>, <span class="org-string">'freq'</span>, 5e3);
+</pre>
+</div>
+
+<p>
+We set the rotation point of the ground to be at the same point at frames \(\{A\}\) and \(\{B\}\).
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
+payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org1177029" class="outline-3">
+<h3 id="org1177029"><span class="section-number-3">3.2</span> Compliance</h3>
+<div class="outline-text-3" id="text-3-2">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
+options = linearizeOptions;
+options.SampleTime = 0;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
+clear io; io_i = 1;
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances/F_ext'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Base Motion [m, rad]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Absolute Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion [m, rad]</span>
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
+C = linearize(mdl, io, options);
+C.InputName = {<span class="org-string">'Fdx'</span>, <span class="org-string">'Fdy'</span>, <span class="org-string">'Fdz'</span>, <span class="org-string">'Mdx'</span>, <span class="org-string">'Mdy'</span>, <span class="org-string">'Mdz'</span>};
+C.OutputName = {<span class="org-string">'Edx'</span>, <span class="org-string">'Edy'</span>, <span class="org-string">'Edz'</span>, <span class="org-string">'Erx'</span>, <span class="org-string">'Ery'</span>, <span class="org-string">'Erz'</span>};
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = logspace(1, 4, 1000);
+
+<span class="org-type">figure</span>;
+<span class="org-keyword">for</span> <span class="org-variable-name">ix</span> = <span class="org-constant">1:6</span>
+  <span class="org-keyword">for</span> <span class="org-variable-name">iy</span> = <span class="org-constant">1:6</span>
+    subplot(6, 6, (ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy);
+    hold on;
+    plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, <span class="org-string">'Hz'</span>))), <span class="org-string">'k-'</span>);
+    <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+    ylim([1e<span class="org-type">-</span>10, 1e<span class="org-type">-</span>3]);
+    xlim([freqs(1), freqs(end)]);
+    <span class="org-keyword">if</span> ix <span class="org-type">&lt;</span> 6
+      xticklabels({});
+    <span class="org-keyword">end</span>
+    <span class="org-keyword">if</span> iy <span class="org-type">&gt;</span> 1
+      yticklabels({});
+    <span class="org-keyword">end</span>
+  <span class="org-keyword">end</span>
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<p>
+We can try to use the Frobenius norm to obtain a scalar value representing the 6-dof compliance of the Stewart platform.
+</p>
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = logspace(1, 4, 1000);
+
+C_norm = zeros(length(freqs), 1);
+
+<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(freqs)</span>
+  C_norm(<span class="org-constant">i</span>) = sqrt(trace(freqresp(C, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">*</span>freqresp(C, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">'</span>));
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-type">figure</span>;
+plot(freqs, C_norm)
+<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+</pre>
+</div>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org68ca336" class="outline-2">
+<h2 id="org68ca336"><span class="section-number-2">4</span> Functions</h2>
+<div class="outline-text-2" id="text-4">
+</div>
+<div id="outline-container-org487c4d4" class="outline-3">
+<h3 id="org487c4d4"><span class="section-number-3">4.1</span> Compute the Transmissibility</h3>
+<div class="outline-text-3" id="text-4-1">
+<p>
+<a id="orgbca579c"></a>
+</p>
+</div>
+
+<div id="outline-container-org851f84d" class="outline-4">
+<h4 id="org851f84d">Function description</h4>
+<div class="outline-text-4" id="text-org851f84d">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[T, T_norm, freqs]</span> = <span class="org-function-name">computeTransmissibility</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% computeTransmissibility -</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [T, T_norm, freqs] = computeTransmissibility(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm</span>
+<span class="org-comment">%        - freqs [] - Frequency vector to estimate the Frobenius norm</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Outputs:</span>
+<span class="org-comment">%    - T      [6x6 ss] - Transmissibility matrix</span>
+<span class="org-comment">%    - T_norm [length(freqs)x1] - Frobenius norm of the Transmissibility matrix</span>
+<span class="org-comment">%    - freqs  [length(freqs)x1] - Frequency vector in [Hz]</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgf5e24cd" class="outline-4">
+<h4 id="orgf5e24cd">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgf5e24cd">
+<div class="org-src-container">
+<pre class="src src-matlab">arguments
+  args.plots logical {mustBeNumericOrLogical} = <span class="org-constant">false</span>
+  args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = args.freqs;
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org4629501" class="outline-4">
+<h4 id="org4629501">Identification of the Transmissibility Matrix</h4>
+<div class="outline-text-4" id="text-org4629501">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
+options = linearizeOptions;
+options.SampleTime = 0;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
+clear io; io_i = 1;
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances/D_w'</span>],        1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Base Motion [m, rad]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Absolute Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion [m, rad]</span>
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
+T = linearize(mdl, io, options);
+T.InputName = {<span class="org-string">'Wdx'</span>, <span class="org-string">'Wdy'</span>, <span class="org-string">'Wdz'</span>, <span class="org-string">'Wrx'</span>, <span class="org-string">'Wry'</span>, <span class="org-string">'Wrz'</span>};
+T.OutputName = {<span class="org-string">'Edx'</span>, <span class="org-string">'Edy'</span>, <span class="org-string">'Edz'</span>, <span class="org-string">'Erx'</span>, <span class="org-string">'Ery'</span>, <span class="org-string">'Erz'</span>};
+</pre>
+</div>
+
+<p>
+If wanted, the 6x6 transmissibility matrix is plotted.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">p_handle = zeros(6<span class="org-type">*</span>6,1);
+
+<span class="org-keyword">if</span> args.plots
+  fig = <span class="org-type">figure</span>;
+  <span class="org-keyword">for</span> <span class="org-variable-name">ix</span> = <span class="org-constant">1:6</span>
+    <span class="org-keyword">for</span> <span class="org-variable-name">iy</span> = <span class="org-constant">1:6</span>
+      p_handle((ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy) = subplot(6, 6, (ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy);
+      hold on;
+      plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, <span class="org-string">'Hz'</span>))), <span class="org-string">'k-'</span>);
+      <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+      <span class="org-keyword">if</span> ix <span class="org-type">&lt;</span> 6
+          xticklabels({});
+      <span class="org-keyword">end</span>
+      <span class="org-keyword">if</span> iy <span class="org-type">&gt;</span> 1
+          yticklabels({});
+      <span class="org-keyword">end</span>
+    <span class="org-keyword">end</span>
+  <span class="org-keyword">end</span>
+
+  linkaxes(p_handle, <span class="org-string">'xy'</span>)
+  xlim([freqs(1), freqs(end)]);
+  ylim([1e<span class="org-type">-</span>5, 1e2]);
+
+  han = <span class="org-type">axes</span>(fig, <span class="org-string">'visible'</span>, <span class="org-string">'off'</span>);
+  han.XLabel.Visible = <span class="org-string">'on'</span>;
+  han.YLabel.Visible = <span class="org-string">'on'</span>;
+  ylabel(han, <span class="org-string">'Frequency [Hz]'</span>);
+  xlabel(han, <span class="org-string">'Transmissibility [m/m]'</span>);
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org989379a" class="outline-4">
+<h4 id="org989379a">Computation of the Frobenius norm</h4>
+<div class="outline-text-4" id="text-org989379a">
+<div class="org-src-container">
+<pre class="src src-matlab">T_norm = zeros(length(freqs), 1);
+
+<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(freqs)</span>
+  T_norm(<span class="org-constant">i</span>) = sqrt(trace(freqresp(T, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">*</span>freqresp(T, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">'</span>));
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">T_norm = T_norm<span class="org-type">/</span>sqrt(6);
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">if</span> args.plots
+  <span class="org-type">figure</span>;
+  plot(freqs, T_norm)
+  <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+  xlabel(<span class="org-string">'Frequency [Hz]'</span>);
+  ylabel(<span class="org-string">'Transmissibility - Frobenius Norm'</span>);
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org50e35a6" class="outline-3">
+<h3 id="org50e35a6"><span class="section-number-3">4.2</span> Compute the Compliance</h3>
+<div class="outline-text-3" id="text-4-2">
+<p>
+<a id="org0a73574"></a>
+</p>
+</div>
+
+<div id="outline-container-org64fc1e2" class="outline-4">
+<h4 id="org64fc1e2">Function description</h4>
+<div class="outline-text-4" id="text-org64fc1e2">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[C, C_norm, freqs]</span> = <span class="org-function-name">computeCompliance</span>(<span class="org-variable-name">args</span>)
+<span class="org-comment">% computeCompliance -</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Syntax: [C, C_norm, freqs] = computeCompliance(args)</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Inputs:</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm</span>
+<span class="org-comment">%        - freqs [] - Frequency vector to estimate the Frobenius norm</span>
+<span class="org-comment">%</span>
+<span class="org-comment">% Outputs:</span>
+<span class="org-comment">%    - C      [6x6 ss] - Compliance matrix</span>
+<span class="org-comment">%    - C_norm [length(freqs)x1] - Frobenius norm of the Compliance matrix</span>
+<span class="org-comment">%    - freqs  [length(freqs)x1] - Frequency vector in [Hz]</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org54cab00" class="outline-4">
+<h4 id="org54cab00">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org54cab00">
+<div class="org-src-container">
+<pre class="src src-matlab">arguments
+  args.plots logical {mustBeNumericOrLogical} = <span class="org-constant">false</span>
+  args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = args.freqs;
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-orgef06b63" class="outline-4">
+<h4 id="orgef06b63">Identification of the Compliance Matrix</h4>
+<div class="outline-text-4" id="text-orgef06b63">
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
+options = linearizeOptions;
+options.SampleTime = 0;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
+mdl = <span class="org-string">'stewart_platform_model'</span>;
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
+clear io; io_i = 1;
+io(io_i) = linio([mdl, <span class="org-string">'/Disturbances/F_ext'</span>],      1, <span class="org-string">'openinput'</span>);  io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% External forces [N, N*m]</span>
+io(io_i) = linio([mdl, <span class="org-string">'/Absolute Motion Sensor'</span>],  1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion [m, rad]</span>
+
+<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
+C = linearize(mdl, io, options);
+C.InputName  = {<span class="org-string">'Fdx'</span>, <span class="org-string">'Fdy'</span>, <span class="org-string">'Fdz'</span>, <span class="org-string">'Mdx'</span>, <span class="org-string">'Mdy'</span>, <span class="org-string">'Mdz'</span>};
+C.OutputName = {<span class="org-string">'Edx'</span>, <span class="org-string">'Edy'</span>, <span class="org-string">'Edz'</span>, <span class="org-string">'Erx'</span>, <span class="org-string">'Ery'</span>, <span class="org-string">'Erz'</span>};
+</pre>
+</div>
+
+<p>
+If wanted, the 6x6 transmissibility matrix is plotted.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">p_handle = zeros(6<span class="org-type">*</span>6,1);
+
+<span class="org-keyword">if</span> args.plots
+  fig = <span class="org-type">figure</span>;
+  <span class="org-keyword">for</span> <span class="org-variable-name">ix</span> = <span class="org-constant">1:6</span>
+    <span class="org-keyword">for</span> <span class="org-variable-name">iy</span> = <span class="org-constant">1:6</span>
+      p_handle((ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy) = subplot(6, 6, (ix<span class="org-type">-</span>1)<span class="org-type">*</span>6 <span class="org-type">+</span> iy);
+      hold on;
+      plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, <span class="org-string">'Hz'</span>))), <span class="org-string">'k-'</span>);
+      <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+      <span class="org-keyword">if</span> ix <span class="org-type">&lt;</span> 6
+          xticklabels({});
+      <span class="org-keyword">end</span>
+      <span class="org-keyword">if</span> iy <span class="org-type">&gt;</span> 1
+          yticklabels({});
+      <span class="org-keyword">end</span>
+    <span class="org-keyword">end</span>
+  <span class="org-keyword">end</span>
+
+  linkaxes(p_handle, <span class="org-string">'xy'</span>)
+  xlim([freqs(1), freqs(end)]);
+
+  han = <span class="org-type">axes</span>(fig, <span class="org-string">'visible'</span>, <span class="org-string">'off'</span>);
+  han.XLabel.Visible = <span class="org-string">'on'</span>;
+  han.YLabel.Visible = <span class="org-string">'on'</span>;
+  xlabel(han, <span class="org-string">'Frequency [Hz]'</span>);
+  ylabel(han, <span class="org-string">'Compliance [m/N, rad/(N*m)]'</span>);
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org6f63d37" class="outline-4">
+<h4 id="org6f63d37">Computation of the Frobenius norm</h4>
+<div class="outline-text-4" id="text-org6f63d37">
+<div class="org-src-container">
+<pre class="src src-matlab">freqs = args.freqs;
+
+C_norm = zeros(length(freqs), 1);
+
+<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(freqs)</span>
+  C_norm(<span class="org-constant">i</span>) = sqrt(trace(freqresp(C, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">*</span>freqresp(C, freqs(<span class="org-constant">i</span>), <span class="org-string">'Hz'</span>)<span class="org-type">'</span>));
+<span class="org-keyword">end</span>
+</pre>
+</div>
+
+<div class="org-src-container">
+<pre class="src src-matlab"><span class="org-keyword">if</span> args.plots
+  <span class="org-type">figure</span>;
+  plot(freqs, C_norm)
+  <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'XScale'</span>, <span class="org-string">'log'</span>); <span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'YScale'</span>, <span class="org-string">'log'</span>);
+  xlabel(<span class="org-string">'Frequency [Hz]'</span>);
+  ylabel(<span class="org-string">'Compliance - Frobenius Norm'</span>);
+<span class="org-keyword">end</span>
+</pre>
+</div>
+</div>
+</div>
+</div>
+</div>
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-13 jeu. 15:44</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/docs/simscape-model.html b/docs/simscape-model.html
index b40d970..40bee6d 100644
--- a/docs/simscape-model.html
+++ b/docs/simscape-model.html
@@ -4,7 +4,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-02-13 jeu. 15:47 -->
+<!-- 2020-02-27 jeu. 14:16 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Simscape Model</title>
@@ -201,50 +201,28 @@
 <script src="./js/jquery.stickytableheaders.min.js"></script>
 <script src="./js/readtheorg.js"></script>
 <script type="text/javascript">
-/*
-@licstart  The following is the entire license notice for the
-JavaScript code in this tag.
-
-Copyright (C) 2012-2020 Free Software Foundation, Inc.
-
-The JavaScript code in this tag is free software: you can
-redistribute it and/or modify it under the terms of the GNU
-General Public License (GNU GPL) as published by the Free Software
-Foundation, either version 3 of the License, or (at your option)
-any later version.  The code is distributed WITHOUT ANY WARRANTY;
-without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE.  See the GNU GPL for more details.
-
-As additional permission under GNU GPL version 3 section 7, you
-may distribute non-source (e.g., minimized or compacted) forms of
-that code without the copy of the GNU GPL normally required by
-section 4, provided you include this license notice and a URL
-through which recipients can access the Corresponding Source.
-
-
-@licend  The above is the entire license notice
-for the JavaScript code in this tag.
-*/
+// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
 <!--/*--><![CDATA[/*><!--*/
- function CodeHighlightOn(elem, id)
- {
-   var target = document.getElementById(id);
-   if(null != target) {
-     elem.cacheClassElem = elem.className;
-     elem.cacheClassTarget = target.className;
-     target.className = "code-highlighted";
-     elem.className   = "code-highlighted";
-   }
- }
- function CodeHighlightOff(elem, id)
- {
-   var target = document.getElementById(id);
-   if(elem.cacheClassElem)
-     elem.className = elem.cacheClassElem;
-   if(elem.cacheClassTarget)
-     target.className = elem.cacheClassTarget;
- }
-/*]]>*///-->
+     function CodeHighlightOn(elem, id)
+     {
+       var target = document.getElementById(id);
+       if(null != target) {
+         elem.cacheClassElem = elem.className;
+         elem.cacheClassTarget = target.className;
+         target.className = "code-highlighted";
+         elem.className   = "code-highlighted";
+       }
+     }
+     function CodeHighlightOff(elem, id)
+     {
+       var target = document.getElementById(id);
+       if(elem.cacheClassElem)
+         elem.className = elem.cacheClassElem;
+       if(elem.cacheClassTarget)
+         target.className = elem.cacheClassTarget;
+     }
+    /*]]>*///-->
+// @license-end
 </script>
 <script>
       MathJax = {
@@ -281,18 +259,19 @@ for the JavaScript code in this tag.
 <ul>
 <li><a href="#org3535b6d">6.1. Payload</a>
 <ul>
-<li><a href="#org706f994">Function description</a></li>
-<li><a href="#orgb15b49f">Optional Parameters</a></li>
+<li><a href="#orge7f39a8">Function description</a></li>
+<li><a href="#orgb83df72">Optional Parameters</a></li>
 <li><a href="#orgeeb8d35">Add Payload Type</a></li>
 <li><a href="#org6d52ffc">Add Stiffness, Damping and Mass properties of the Payload</a></li>
 </ul>
 </li>
 <li><a href="#orgaaed406">6.2. Ground</a>
 <ul>
-<li><a href="#orge7f39a8">Function description</a></li>
-<li><a href="#orgb83df72">Optional Parameters</a></li>
+<li><a href="#org5d402b9">Function description</a></li>
+<li><a href="#orgc0da5ca">Optional Parameters</a></li>
 <li><a href="#orgef7035d">Add Ground Type</a></li>
 <li><a href="#org95633e8">Add Stiffness and Damping properties of the Ground</a></li>
+<li><a href="#org14ff2fc">Rotation Point</a></li>
 </ul>
 </li>
 </ul>
@@ -525,9 +504,9 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 </p>
 </div>
 
-<div id="outline-container-org706f994" class="outline-4">
-<h4 id="org706f994">Function description</h4>
-<div class="outline-text-4" id="text-org706f994">
+<div id="outline-container-orge7f39a8" class="outline-4">
+<h4 id="orge7f39a8">Function description</h4>
+<div class="outline-text-4" id="text-orge7f39a8">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[payload]</span> = <span class="org-function-name">initializePayload</span>(<span class="org-variable-name">args</span>)
 <span class="org-comment">% initializePayload - Initialize the Payload that can then be used for simulations and analysis</span>
@@ -536,7 +515,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 <span class="org-comment">%</span>
 <span class="org-comment">% Inputs:</span>
 <span class="org-comment">%    - args - Structure with the following fields:</span>
-<span class="org-comment">%        - type - 'none', 'solid', 'flexible', 'cartesian'</span>
+<span class="org-comment">%        - type - 'none', 'rigid', 'flexible', 'cartesian'</span>
 <span class="org-comment">%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
 <span class="org-comment">%                    This also the position where K and C are defined</span>
 <span class="org-comment">%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
@@ -546,7 +525,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
 <span class="org-comment">%    - payload - Struture with the following properties:</span>
-<span class="org-comment">%        - type - 1 (none), 2 (solid), 3 (flexible)</span>
+<span class="org-comment">%        - type - 1 (none), 2 (rigid), 3 (flexible)</span>
 <span class="org-comment">%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
 <span class="org-comment">%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
 <span class="org-comment">%        - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]</span>
@@ -557,12 +536,12 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 </div>
 </div>
 
-<div id="outline-container-orgb15b49f" class="outline-4">
-<h4 id="orgb15b49f">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgb15b49f">
+<div id="outline-container-orgb83df72" class="outline-4">
+<h4 id="orgb83df72">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgb83df72">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
-  args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'solid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
+  args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
   args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
   args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
   args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
@@ -581,7 +560,7 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
 <pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
   <span class="org-keyword">case</span> <span class="org-string">'none'</span>
     payload.type = 1;
-  <span class="org-keyword">case</span> <span class="org-string">'solid'</span>
+  <span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
     payload.type = 2;
   <span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
     payload.type = 3;
@@ -621,9 +600,9 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
 </p>
 </div>
 
-<div id="outline-container-orge7f39a8" class="outline-4">
-<h4 id="orge7f39a8">Function description</h4>
-<div class="outline-text-4" id="text-orge7f39a8">
+<div id="outline-container-org5d402b9" class="outline-4">
+<h4 id="org5d402b9">Function description</h4>
+<div class="outline-text-4" id="text-org5d402b9">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[ground]</span> = <span class="org-function-name">initializeGround</span>(<span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeGround - Initialize the Ground that can then be used for simulations and analysis</span>
@@ -633,12 +612,13 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
 <span class="org-comment">% Inputs:</span>
 <span class="org-comment">%    - args - Structure with the following fields:</span>
 <span class="org-comment">%        - type - 'none', 'solid', 'flexible'</span>
+<span class="org-comment">%        - rot_point [3x1] - Rotation point for the ground motion [m]</span>
 <span class="org-comment">%        - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
 <span class="org-comment">%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
 <span class="org-comment">%    - ground - Struture with the following properties:</span>
-<span class="org-comment">%        - type - 1 (none), 2 (solid), 3 (flexible)</span>
+<span class="org-comment">%        - type - 1 (none), 2 (rigid), 3 (flexible)</span>
 <span class="org-comment">%        - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
 <span class="org-comment">%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
 </pre>
@@ -646,12 +626,13 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
 </div>
 </div>
 
-<div id="outline-container-orgb83df72" class="outline-4">
-<h4 id="orgb83df72">Optional Parameters</h4>
-<div class="outline-text-4" id="text-orgb83df72">
+<div id="outline-container-orgc0da5ca" class="outline-4">
+<h4 id="orgc0da5ca">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgc0da5ca">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
-  args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'solid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
+  args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
+  args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
   args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(3,1)
   args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(3,1)
 <span class="org-keyword">end</span>
@@ -667,7 +648,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
 <pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
   <span class="org-keyword">case</span> <span class="org-string">'none'</span>
     ground.type = 1;
-  <span class="org-keyword">case</span> <span class="org-string">'solid'</span>
+  <span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
     ground.type = 2;
   <span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
     ground.type = 3;
@@ -687,12 +668,22 @@ ground.C = args.C;
 </div>
 </div>
 </div>
+
+<div id="outline-container-org14ff2fc" class="outline-4">
+<h4 id="org14ff2fc">Rotation Point</h4>
+<div class="outline-text-4" id="text-org14ff2fc">
+<div class="org-src-container">
+<pre class="src src-matlab">ground.rot_point = args.rot_point;
+</pre>
+</div>
+</div>
+</div>
 </div>
 </div>
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-02-13 jeu. 15:47</p>
+<p class="date">Created: 2020-02-27 jeu. 14:16</p>
 </div>
 </body>
 </html>
diff --git a/matlab/stewart_platform_model.slx b/matlab/stewart_platform_model.slx
index 88f2566..3745ca7 100644
Binary files a/matlab/stewart_platform_model.slx and b/matlab/stewart_platform_model.slx differ
diff --git a/org/active-damping.org b/org/active-damping.org
index 8e43701..862df97 100644
--- a/org/active-damping.org
+++ b/org/active-damping.org
@@ -91,7 +91,7 @@ To run the script, open the Simulink Project, and type =run active_damping_inert
 #+end_src
 
 #+begin_src matlab
-  ground = initializeGround('type', 'none');
+  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
   payload = initializePayload('type', 'none');
 #+end_src
 
@@ -321,10 +321,14 @@ We first initialize the Stewart platform without joint stiffness.
 #+end_src
 
 #+begin_src matlab
-  ground = initializeGround('type', 'none');
+  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
   payload = initializePayload('type', 'none');
 #+end_src
 
+#+begin_src matlab
+  controller = initializeController('type', 'open-loop');
+#+end_src
+
 And we identify the dynamics from force actuators to force sensors.
 #+begin_src matlab
   %% Options for Linearized
@@ -590,7 +594,7 @@ We first initialize the Stewart platform without joint stiffness.
 #+end_src
 
 #+begin_src matlab
-  ground = initializeGround('type', 'none');
+  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
   payload = initializePayload('type', 'none');
 #+end_src
 
@@ -773,3 +777,170 @@ The root locus is shown in figure [[fig:root_locus_dvf_rot_stiffness]].
 #+begin_important
   Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors.
 #+end_important
+* Compliance and Transmissibility Comparison
+** Initialization
+We first initialize the Stewart platform without joint stiffness.
+#+begin_src matlab
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+  stewart = generateGeneralConfiguration(stewart);
+  stewart = computeJointsPose(stewart);
+  stewart = initializeStrutDynamics(stewart);
+  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+  stewart = initializeCylindricalPlatforms(stewart);
+  stewart = initializeCylindricalStruts(stewart);
+  stewart = computeJacobian(stewart);
+  stewart = initializeStewartPose(stewart);
+  stewart = initializeInertialSensor(stewart, 'type', 'none');
+#+end_src
+
+The rotation point of the ground is located at the origin of frame $\{A\}$.
+#+begin_src matlab
+  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
+  payload = initializePayload('type', 'none');
+#+end_src
+
+** Identification
+Let's first identify the transmissibility and compliance in the open-loop case.
+#+begin_src matlab
+  controller = initializeController('type', 'open-loop');
+  [T_ol, T_norm_ol, freqs] = computeTransmissibility();
+  [C_ol, C_norm_ol, freqs] = computeCompliance();
+#+end_src
+
+Now, let's identify the transmissibility and compliance for the Integral Force Feedback architecture.
+#+begin_src matlab
+  controller = initializeController('type', 'iff');
+  G_iff = (2e4/s)*eye(6);
+
+  [T_iff, T_norm_iff, ~] = computeTransmissibility();
+  [C_iff, C_norm_iff, ~] = computeCompliance();
+#+end_src
+
+And for the Direct Velocity Feedback.
+#+begin_src matlab
+  controller = initializeController('type', 'dvf');
+  G_dvf = 1e4*s/(1+s/2/pi/5000)*eye(6);
+
+  [T_dvf, T_norm_dvf, ~] = computeTransmissibility();
+  [C_dvf, C_norm_dvf, ~] = computeCompliance();
+#+end_src
+
+** Results
+#+begin_src matlab :exports none
+  p_handle = zeros(6*6,1);
+
+  fig = figure;
+  for ix = 1:6
+    for iy = 1:6
+      p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
+      hold on;
+      set(gca,'ColorOrderIndex',1);
+      plot(freqs, abs(squeeze(freqresp(T_ol(ix, iy), freqs, 'Hz'))));
+      set(gca,'ColorOrderIndex',2);
+      plot(freqs, abs(squeeze(freqresp(T_iff(ix, iy), freqs, 'Hz'))));
+      set(gca,'ColorOrderIndex',3);
+      plot(freqs, abs(squeeze(freqresp(T_dvf(ix, iy), freqs, 'Hz'))));
+      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+      if ix < 6
+          xticklabels({});
+      end
+      if iy > 1
+          yticklabels({});
+      end
+    end
+  end
+
+  linkaxes(p_handle, 'xy')
+  xlim([freqs(1), freqs(end)]);
+
+  han = axes(fig, 'visible', 'off');
+  han.XLabel.Visible = 'on';
+  han.YLabel.Visible = 'on';
+  ylabel(han, 'Frequency [Hz]');
+  xlabel(han, 'Transmissibility');
+#+end_src
+
+#+header: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/transmissibility_iff_dvf.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+name: fig:transmissibility_iff_dvf
+#+caption: Obtained transmissibility for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) ([[./figs/transmissibility_iff_dvf.png][png]], [[./figs/transmissibility_iff_dvf.pdf][pdf]])
+[[file:figs/transmissibility_iff_dvf.png]]
+
+#+begin_src matlab :exports none
+  p_handle = zeros(6*6,1);
+
+  fig = figure;
+  for ix = 1:6
+    for iy = 1:6
+      p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
+      hold on;
+      set(gca,'ColorOrderIndex',1);
+      plot(freqs, abs(squeeze(freqresp(C_ol(ix, iy), freqs, 'Hz'))));
+      set(gca,'ColorOrderIndex',2);
+      plot(freqs, abs(squeeze(freqresp(C_iff(ix, iy), freqs, 'Hz'))));
+      set(gca,'ColorOrderIndex',3);
+      plot(freqs, abs(squeeze(freqresp(C_dvf(ix, iy), freqs, 'Hz'))));
+      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+      if ix < 6
+          xticklabels({});
+      end
+      if iy > 1
+          yticklabels({});
+      end
+    end
+  end
+
+  linkaxes(p_handle, 'xy')
+  xlim([freqs(1), freqs(end)]);
+
+  han = axes(fig, 'visible', 'off');
+  han.XLabel.Visible = 'on';
+  han.YLabel.Visible = 'on';
+  ylabel(han, 'Frequency [Hz]');
+  xlabel(han, 'Compliance');
+#+end_src
+
+#+header: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/compliance_iff_dvf.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+name: fig:compliance_iff_dvf
+#+caption: Obtained compliance for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) ([[./figs/compliance_iff_dvf.png][png]], [[./figs/compliance_iff_dvf.pdf][pdf]])
+[[file:figs/compliance_iff_dvf.png]]
+
+#+begin_src matlab :exports none
+  figure;
+
+  subplot(1,2,1);
+  hold on;
+  plot(freqs, T_norm_ol)
+  plot(freqs, T_norm_iff)
+  plot(freqs, T_norm_dvf)
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  xlabel('Frequency [Hz]');
+  ylabel('Transmissibility - Frobenius Norm');
+
+  subplot(1,2,2);
+  hold on;
+  plot(freqs, C_norm_ol, 'DisplayName', 'OL')
+  plot(freqs, C_norm_iff, 'DisplayName', 'IFF')
+  plot(freqs, C_norm_dvf, 'DisplayName', 'DVF')
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  xlabel('Frequency [Hz]');
+  ylabel('Compliance - Frobenius Norm');
+  legend();
+#+end_src
+
+#+header: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/frobenius_norm_T_C_iff_dvf.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+name: fig:frobenius_norm_T_C_iff_dvf
+#+caption: Frobenius norm of the Transmissibility and Compliance Matrices ([[./figs/frobenius_norm_T_C_iff_dvf.png][png]], [[./figs/frobenius_norm_T_C_iff_dvf.pdf][pdf]])
+[[file:figs/frobenius_norm_T_C_iff_dvf.png]]
diff --git a/org/control-study.org b/org/control-study.org
index 11947cc..7638365 100644
--- a/org/control-study.org
+++ b/org/control-study.org
@@ -259,241 +259,27 @@ A lead is added around the crossover frequency which is set to be around 500Hz.
 
   linkaxes([ax1,ax2],'x');
 #+end_src
-* Transmissibility Analysis
-** Matlab Init                                                     :noexport:
-#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
-  <<matlab-dir>>
-#+end_src
 
-#+begin_src matlab :exports none :results silent :noweb yes
-  <<matlab-init>>
-#+end_src
-
-#+begin_src matlab
-  simulinkproject('../');
-#+end_src
-
-#+begin_src matlab
-  open('stewart_platform_model.slx')
-#+end_src
-
-** Initialize the Stewart platform
-#+begin_src matlab
-  stewart = initializeStewartPlatform();
-  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
-  stewart = generateGeneralConfiguration(stewart);
-  stewart = computeJointsPose(stewart);
-  stewart = initializeStrutDynamics(stewart);
-  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
-  stewart = initializeCylindricalPlatforms(stewart);
-  stewart = initializeCylindricalStruts(stewart);
-  stewart = computeJacobian(stewart);
-  stewart = initializeStewartPose(stewart);
-  stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
-#+end_src
-
-We set the rotation point of the ground to be at the same point at frames $\{A\}$ and $\{B\}$.
-#+begin_src matlab
-  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
-  payload = initializePayload('type', 'rigid');
-#+end_src
-
-** Transmissibility
-#+begin_src matlab
-  %% Options for Linearized
-  options = linearizeOptions;
-  options.SampleTime = 0;
-
-  %% Name of the Simulink File
-  mdl = 'stewart_platform_model';
-
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Disturbances/D_w'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
-  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
-
-  %% Run the linearization
-  T = linearize(mdl, io, options);
-  T.InputName = {'Wdx', 'Wdy', 'Wdz', 'Wrx', 'Wry', 'Wrz'};
-  T.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
-#+end_src
-
-#+begin_src matlab
-  freqs = logspace(1, 4, 1000);
-
-  figure;
-  for ix = 1:6
-    for iy = 1:6
-      subplot(6, 6, (ix-1)*6 + iy);
-      hold on;
-      plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, 'Hz'))), 'k-');
-      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-      ylim([1e-5, 10]);
-      xlim([freqs(1), freqs(end)]);
-      if ix < 6
-        xticklabels({});
-      end
-      if iy > 1
-        yticklabels({});
-      end
-    end
-  end
-#+end_src
-
-From cite:preumont07_six_axis_singl_stage_activ, one can use the Frobenius norm of the transmissibility matrix to obtain a scalar indicator of the transmissibility performance of the system:
-\begin{align*}
-  \| \bm{T}(\omega) \| &= \sqrt{\text{Trace}[\bm{T}(\omega) \bm{T}(\omega)^H]}\\
-                       &= \sqrt{\Sigma_{i=1}^6 \Sigma_{j=1}^6 |T_{ij}|^2}
-\end{align*}
-
-#+begin_src matlab
-  freqs = logspace(1, 4, 1000);
-
-  T_norm = zeros(length(freqs), 1);
-
-  for i = 1:length(freqs)
-    T_norm(i) = sqrt(trace(freqresp(T, freqs(i), 'Hz')*freqresp(T, freqs(i), 'Hz')'));
-  end
-#+end_src
-
-And we normalize by a factor $\sqrt{6}$ to obtain a performance metric comparable to the transmissibility of a one-axis isolator:
-\[ \Gamma(\omega) = \|\bm{T}(\omega)\| / \sqrt{6} \]
-
-#+begin_src matlab
-  Gamma = T_norm/sqrt(6);
-#+end_src
-
-#+begin_src matlab
-  figure;
-  plot(freqs, Gamma)
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-#+end_src
-
-* Compliance Analysis
-** Matlab Init                                                     :noexport:
-#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
-  <<matlab-dir>>
-#+end_src
-
-#+begin_src matlab :exports none :results silent :noweb yes
-  <<matlab-init>>
-#+end_src
-
-#+begin_src matlab
-  simulinkproject('../');
-#+end_src
-
-#+begin_src matlab
-  open('stewart_platform_model.slx')
-#+end_src
-
-** Initialize the Stewart platform
-#+begin_src matlab
-  stewart = initializeStewartPlatform();
-  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
-  stewart = generateGeneralConfiguration(stewart);
-  stewart = computeJointsPose(stewart);
-  stewart = initializeStrutDynamics(stewart);
-  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
-  stewart = initializeCylindricalPlatforms(stewart);
-  stewart = initializeCylindricalStruts(stewart);
-  stewart = computeJacobian(stewart);
-  stewart = initializeStewartPose(stewart);
-  stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
-#+end_src
-
-We set the rotation point of the ground to be at the same point at frames $\{A\}$ and $\{B\}$.
-#+begin_src matlab
-  ground = initializeGround('type', 'none');
-  payload = initializePayload('type', 'rigid');
-#+end_src
-
-** Compliance
-#+begin_src matlab
-  %% Options for Linearized
-  options = linearizeOptions;
-  options.SampleTime = 0;
-
-  %% Name of the Simulink File
-  mdl = 'stewart_platform_model';
-
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Disturbances/F_ext'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
-  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
-
-  %% Run the linearization
-  C = linearize(mdl, io, options);
-  C.InputName = {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
-  C.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
-#+end_src
-
-#+begin_src matlab
-  freqs = logspace(1, 4, 1000);
-
-  figure;
-  for ix = 1:6
-    for iy = 1:6
-      subplot(6, 6, (ix-1)*6 + iy);
-      hold on;
-      plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, 'Hz'))), 'k-');
-      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-      ylim([1e-10, 1e-3]);
-      xlim([freqs(1), freqs(end)]);
-      if ix < 6
-        xticklabels({});
-      end
-      if iy > 1
-        yticklabels({});
-      end
-    end
-  end
-#+end_src
-
-We can try to use the Frobenius norm to obtain a scalar value representing the 6-dof compliance of the Stewart platform.
-
-#+begin_src matlab
-  freqs = logspace(1, 4, 1000);
-
-  C_norm = zeros(length(freqs), 1);
-
-  for i = 1:length(freqs)
-    C_norm(i) = sqrt(trace(freqresp(C, freqs(i), 'Hz')*freqresp(C, freqs(i), 'Hz')'));
-  end
-#+end_src
-
-#+begin_src matlab
-  figure;
-  plot(freqs, C_norm)
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-#+end_src
 * Functions
-** Compute the Transmissibility
+** =initializeController=: Initialize the Controller
 :PROPERTIES:
-:header-args:matlab+: :tangle ../src/computeTransmissibility.m
+:header-args:matlab+: :tangle ../src/initializeController.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
 :END:
-<<sec:computeTransmissibility>>
+<<sec:initializeController>>
 
 *** Function description
 :PROPERTIES:
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-  function [T, T_norm, freqs] = computeTransmissibility(args)
-  % computeTransmissibility -
+  function [controller] = initializeController(args)
+  % initializeController - Initialize the Controller
   %
-  % Syntax: [T, T_norm, freqs] = computeTransmissibility(args)
+  % Syntax: [] = initializeController(args)
   %
   % Inputs:
-  %    - args - Structure with the following fields:
-  %        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm
-  %        - freqs [] - Frequency vector to estimate the Frobenius norm
-  %
-  % Outputs:
-  %    - T      [6x6 ss] - Transmissibility matrix
-  %    - T_norm [length(freqs)x1] - Frobenius norm of the Transmissibility matrix
-  %    - freqs  [length(freqs)x1] - Frequency vector in [Hz]
+  %    - args - Can have the following fields:
 #+end_src
 
 *** Optional Parameters
@@ -501,216 +287,30 @@ We can try to use the Frobenius norm to obtain a scalar value representing the 6
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-    arguments
-      args.plots logical {mustBeNumericOrLogical} = false
-      args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
-    end
+  arguments
+    args.type   char   {mustBeMember(args.type, {'open-loop', 'iff', 'dvf'})} = 'open-loop'
+  end
 #+end_src
 
-#+begin_src matlab
-  freqs = args.freqs;
-#+end_src
-
-*** Identification of the Transmissibility Matrix
+*** Structure initialization
 :PROPERTIES:
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-  %% Options for Linearized
-  options = linearizeOptions;
-  options.SampleTime = 0;
-
-  %% Name of the Simulink File
-  mdl = 'stewart_platform_model';
-
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Disturbances/D_w'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
-  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
-
-  %% Run the linearization
-  T = linearize(mdl, io, options);
-  T.InputName = {'Wdx', 'Wdy', 'Wdz', 'Wrx', 'Wry', 'Wrz'};
-  T.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+  controller = struct();
 #+end_src
 
-If wanted, the 6x6 transmissibility matrix is plotted.
-#+begin_src matlab
-  p_handle = zeros(6*6,1);
-
-  if args.plots
-    fig = figure;
-    for ix = 1:6
-      for iy = 1:6
-        p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
-        hold on;
-        plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, 'Hz'))), 'k-');
-        set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-        if ix < 6
-            xticklabels({});
-        end
-        if iy > 1
-            yticklabels({});
-        end
-      end
-    end
-
-    linkaxes(p_handle, 'xy')
-    xlim([freqs(1), freqs(end)]);
-    ylim([1e-5, 1e2]);
-
-    han = axes(fig, 'visible', 'off');
-    han.XLabel.Visible = 'on';
-    han.YLabel.Visible = 'on';
-    ylabel(han, 'Frequency [Hz]');
-    xlabel(han, 'Transmissibility [m/m]');
-  end
-#+end_src
-
-*** Computation of the Frobenius norm
+*** Add Type
 :PROPERTIES:
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-  T_norm = zeros(length(freqs), 1);
-
-  for i = 1:length(freqs)
-    T_norm(i) = sqrt(trace(freqresp(T, freqs(i), 'Hz')*freqresp(T, freqs(i), 'Hz')'));
-  end
-#+end_src
-
-#+begin_src matlab
-  T_norm = T_norm/sqrt(6);
-#+end_src
-
-#+begin_src matlab
-  if args.plots
-    figure;
-    plot(freqs, T_norm)
-    set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-    xlabel('Frequency [Hz]');
-    ylabel('Transmissibility - Frobenius Norm');
-  end
-#+end_src
-
-** Compute the Compliance
-:PROPERTIES:
-:header-args:matlab+: :tangle ../src/computeCompliance.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-<<sec:computeCompliance>>
-
-*** Function description
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-  function [C, C_norm, freqs] = computeCompliance(args)
-  % computeCompliance -
-  %
-  % Syntax: [C, C_norm, freqs] = computeCompliance(args)
-  %
-  % Inputs:
-  %    - args - Structure with the following fields:
-  %        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm
-  %        - freqs [] - Frequency vector to estimate the Frobenius norm
-  %
-  % Outputs:
-  %    - C      [6x6 ss] - Compliance matrix
-  %    - C_norm [length(freqs)x1] - Frobenius norm of the Compliance matrix
-  %    - freqs  [length(freqs)x1] - Frequency vector in [Hz]
-#+end_src
-
-*** Optional Parameters
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-    arguments
-      args.plots logical {mustBeNumericOrLogical} = false
-      args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
-    end
-#+end_src
-
-#+begin_src matlab
-  freqs = args.freqs;
-#+end_src
-
-*** Identification of the Compliance Matrix
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-  %% Options for Linearized
-  options = linearizeOptions;
-  options.SampleTime = 0;
-
-  %% Name of the Simulink File
-  mdl = 'stewart_platform_model';
-
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Disturbances/F_ext'],      1, 'openinput');  io_i = io_i + 1; % External forces [N, N*m]
-  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
-
-  %% Run the linearization
-  C = linearize(mdl, io, options);
-  C.InputName  = {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
-  C.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
-#+end_src
-
-If wanted, the 6x6 transmissibility matrix is plotted.
-#+begin_src matlab
-  p_handle = zeros(6*6,1);
-
-  if args.plots
-    fig = figure;
-    for ix = 1:6
-      for iy = 1:6
-        p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
-        hold on;
-        plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, 'Hz'))), 'k-');
-        set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-        if ix < 6
-            xticklabels({});
-        end
-        if iy > 1
-            yticklabels({});
-        end
-      end
-    end
-
-    linkaxes(p_handle, 'xy')
-    xlim([freqs(1), freqs(end)]);
-
-    han = axes(fig, 'visible', 'off');
-    han.XLabel.Visible = 'on';
-    han.YLabel.Visible = 'on';
-    xlabel(han, 'Frequency [Hz]');
-    ylabel(han, 'Compliance [m/N, rad/(N*m)]');
-  end
-#+end_src
-
-*** Computation of the Frobenius norm
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-  freqs = args.freqs;
-
-  C_norm = zeros(length(freqs), 1);
-
-  for i = 1:length(freqs)
-    C_norm(i) = sqrt(trace(freqresp(C, freqs(i), 'Hz')*freqresp(C, freqs(i), 'Hz')'));
-  end
-#+end_src
-
-#+begin_src matlab
-  if args.plots
-    figure;
-    plot(freqs, C_norm)
-    set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-    xlabel('Frequency [Hz]');
-    ylabel('Compliance - Frobenius Norm');
+  switch args.type
+    case 'open-loop'
+      controller.type = 0;
+    case 'iff'
+      controller.type = 1;
+    case 'dvf'
+      controller.type = 2;
   end
 #+end_src
diff --git a/org/dynamics-study.org b/org/dynamics-study.org
index 403e7aa..3f75e78 100644
--- a/org/dynamics-study.org
+++ b/org/dynamics-study.org
@@ -338,11 +338,6 @@ Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}
   %% Name of the Simulink File
   mdl = 'stewart_platform_model';
 
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/F'], 1, 'openinput');  io_i = io_i + 1;
-  io(io_i) = linio([mdl, '/X'], 1, 'openoutput'); io_i = io_i + 1;
-
   %% Input/Output definition
   clear io; io_i = 1;
   io(io_i) = linio([mdl, '/Controller'],              1, 'openinput');  io_i = io_i + 1; % Actuator Force Inputs [N]
diff --git a/org/identification.org b/org/identification.org
index ebf172a..92d12a9 100644
--- a/org/identification.org
+++ b/org/identification.org
@@ -39,8 +39,14 @@
 :END:
 
 * Introduction                                                        :ignore:
+In this document, we discuss the various methods to identify the behavior of the Stewart platform.
+
+- [[sec:modal_analysis]]
+- [[sec:transmissibility]]
+- [[sec:compliance]]
 
 * Modal Analysis of the Stewart Platform
+<<sec:modal_analysis>>
 ** Introduction                                                      :ignore:
 ** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
@@ -239,3 +245,463 @@ Save the movie of the mode shape.
 #+caption: Identified mode - 5
 [[file:figs/mode5.gif]]
 
+* Transmissibility Analysis
+<<sec:transmissibility>>
+** Introduction                                                      :ignore:
+** Matlab Init                                                     :noexport:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+#+begin_src matlab
+  simulinkproject('../');
+#+end_src
+
+#+begin_src matlab
+  open('stewart_platform_model.slx')
+#+end_src
+
+** Initialize the Stewart platform
+#+begin_src matlab
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+  stewart = generateGeneralConfiguration(stewart);
+  stewart = computeJointsPose(stewart);
+  stewart = initializeStrutDynamics(stewart);
+  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+  stewart = initializeCylindricalPlatforms(stewart);
+  stewart = initializeCylindricalStruts(stewart);
+  stewart = computeJacobian(stewart);
+  stewart = initializeStewartPose(stewart);
+  stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
+#+end_src
+
+We set the rotation point of the ground to be at the same point at frames $\{A\}$ and $\{B\}$.
+#+begin_src matlab
+  ground = initializeGround('type', 'rigid', 'rot_point', stewart.platform_F.FO_A);
+  payload = initializePayload('type', 'rigid');
+#+end_src
+
+** Transmissibility
+#+begin_src matlab
+  %% Options for Linearized
+  options = linearizeOptions;
+  options.SampleTime = 0;
+
+  %% Name of the Simulink File
+  mdl = 'stewart_platform_model';
+
+  %% Input/Output definition
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Disturbances/D_w'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
+  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
+
+  %% Run the linearization
+  T = linearize(mdl, io, options);
+  T.InputName = {'Wdx', 'Wdy', 'Wdz', 'Wrx', 'Wry', 'Wrz'};
+  T.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+#+end_src
+
+#+begin_src matlab
+  freqs = logspace(1, 4, 1000);
+
+  figure;
+  for ix = 1:6
+    for iy = 1:6
+      subplot(6, 6, (ix-1)*6 + iy);
+      hold on;
+      plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, 'Hz'))), 'k-');
+      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+      ylim([1e-5, 10]);
+      xlim([freqs(1), freqs(end)]);
+      if ix < 6
+        xticklabels({});
+      end
+      if iy > 1
+        yticklabels({});
+      end
+    end
+  end
+#+end_src
+
+From cite:preumont07_six_axis_singl_stage_activ, one can use the Frobenius norm of the transmissibility matrix to obtain a scalar indicator of the transmissibility performance of the system:
+\begin{align*}
+  \| \bm{T}(\omega) \| &= \sqrt{\text{Trace}[\bm{T}(\omega) \bm{T}(\omega)^H]}\\
+                       &= \sqrt{\Sigma_{i=1}^6 \Sigma_{j=1}^6 |T_{ij}|^2}
+\end{align*}
+
+#+begin_src matlab
+  freqs = logspace(1, 4, 1000);
+
+  T_norm = zeros(length(freqs), 1);
+
+  for i = 1:length(freqs)
+    T_norm(i) = sqrt(trace(freqresp(T, freqs(i), 'Hz')*freqresp(T, freqs(i), 'Hz')'));
+  end
+#+end_src
+
+And we normalize by a factor $\sqrt{6}$ to obtain a performance metric comparable to the transmissibility of a one-axis isolator:
+\[ \Gamma(\omega) = \|\bm{T}(\omega)\| / \sqrt{6} \]
+
+#+begin_src matlab
+  Gamma = T_norm/sqrt(6);
+#+end_src
+
+#+begin_src matlab
+  figure;
+  plot(freqs, Gamma)
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+#+end_src
+
+* Compliance Analysis
+<<sec:compliance>>
+** Introduction                                                      :ignore:
+** Matlab Init                                                     :noexport:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+#+begin_src matlab
+  simulinkproject('../');
+#+end_src
+
+#+begin_src matlab
+  open('stewart_platform_model.slx')
+#+end_src
+
+** Initialize the Stewart platform
+#+begin_src matlab
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
+  stewart = generateGeneralConfiguration(stewart);
+  stewart = computeJointsPose(stewart);
+  stewart = initializeStrutDynamics(stewart);
+  stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
+  stewart = initializeCylindricalPlatforms(stewart);
+  stewart = initializeCylindricalStruts(stewart);
+  stewart = computeJacobian(stewart);
+  stewart = initializeStewartPose(stewart);
+  stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
+#+end_src
+
+We set the rotation point of the ground to be at the same point at frames $\{A\}$ and $\{B\}$.
+#+begin_src matlab
+  ground = initializeGround('type', 'none');
+  payload = initializePayload('type', 'rigid');
+#+end_src
+
+** Compliance
+#+begin_src matlab
+  %% Options for Linearized
+  options = linearizeOptions;
+  options.SampleTime = 0;
+
+  %% Name of the Simulink File
+  mdl = 'stewart_platform_model';
+
+  %% Input/Output definition
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Disturbances/F_ext'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
+  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
+
+  %% Run the linearization
+  C = linearize(mdl, io, options);
+  C.InputName = {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
+  C.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+#+end_src
+
+#+begin_src matlab
+  freqs = logspace(1, 4, 1000);
+
+  figure;
+  for ix = 1:6
+    for iy = 1:6
+      subplot(6, 6, (ix-1)*6 + iy);
+      hold on;
+      plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, 'Hz'))), 'k-');
+      set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+      ylim([1e-10, 1e-3]);
+      xlim([freqs(1), freqs(end)]);
+      if ix < 6
+        xticklabels({});
+      end
+      if iy > 1
+        yticklabels({});
+      end
+    end
+  end
+#+end_src
+
+We can try to use the Frobenius norm to obtain a scalar value representing the 6-dof compliance of the Stewart platform.
+
+#+begin_src matlab
+  freqs = logspace(1, 4, 1000);
+
+  C_norm = zeros(length(freqs), 1);
+
+  for i = 1:length(freqs)
+    C_norm(i) = sqrt(trace(freqresp(C, freqs(i), 'Hz')*freqresp(C, freqs(i), 'Hz')'));
+  end
+#+end_src
+
+#+begin_src matlab
+  figure;
+  plot(freqs, C_norm)
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+#+end_src
+
+* Functions
+** Compute the Transmissibility
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/computeTransmissibility.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:computeTransmissibility>>
+
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  function [T, T_norm, freqs] = computeTransmissibility(args)
+  % computeTransmissibility -
+  %
+  % Syntax: [T, T_norm, freqs] = computeTransmissibility(args)
+  %
+  % Inputs:
+  %    - args - Structure with the following fields:
+  %        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm
+  %        - freqs [] - Frequency vector to estimate the Frobenius norm
+  %
+  % Outputs:
+  %    - T      [6x6 ss] - Transmissibility matrix
+  %    - T_norm [length(freqs)x1] - Frobenius norm of the Transmissibility matrix
+  %    - freqs  [length(freqs)x1] - Frequency vector in [Hz]
+#+end_src
+
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+    arguments
+      args.plots logical {mustBeNumericOrLogical} = false
+      args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
+    end
+#+end_src
+
+#+begin_src matlab
+  freqs = args.freqs;
+#+end_src
+
+*** Identification of the Transmissibility Matrix
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  %% Options for Linearized
+  options = linearizeOptions;
+  options.SampleTime = 0;
+
+  %% Name of the Simulink File
+  mdl = 'stewart_platform_model';
+
+  %% Input/Output definition
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Disturbances/D_w'],        1, 'openinput');  io_i = io_i + 1; % Base Motion [m, rad]
+  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
+
+  %% Run the linearization
+  T = linearize(mdl, io, options);
+  T.InputName = {'Wdx', 'Wdy', 'Wdz', 'Wrx', 'Wry', 'Wrz'};
+  T.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+#+end_src
+
+If wanted, the 6x6 transmissibility matrix is plotted.
+#+begin_src matlab
+  p_handle = zeros(6*6,1);
+
+  if args.plots
+    fig = figure;
+    for ix = 1:6
+      for iy = 1:6
+        p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
+        hold on;
+        plot(freqs, abs(squeeze(freqresp(T(ix, iy), freqs, 'Hz'))), 'k-');
+        set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+        if ix < 6
+            xticklabels({});
+        end
+        if iy > 1
+            yticklabels({});
+        end
+      end
+    end
+
+    linkaxes(p_handle, 'xy')
+    xlim([freqs(1), freqs(end)]);
+    ylim([1e-5, 1e2]);
+
+    han = axes(fig, 'visible', 'off');
+    han.XLabel.Visible = 'on';
+    han.YLabel.Visible = 'on';
+    ylabel(han, 'Frequency [Hz]');
+    xlabel(han, 'Transmissibility [m/m]');
+  end
+#+end_src
+
+*** Computation of the Frobenius norm
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  T_norm = zeros(length(freqs), 1);
+
+  for i = 1:length(freqs)
+    T_norm(i) = sqrt(trace(freqresp(T, freqs(i), 'Hz')*freqresp(T, freqs(i), 'Hz')'));
+  end
+#+end_src
+
+#+begin_src matlab
+  T_norm = T_norm/sqrt(6);
+#+end_src
+
+#+begin_src matlab
+  if args.plots
+    figure;
+    plot(freqs, T_norm)
+    set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+    xlabel('Frequency [Hz]');
+    ylabel('Transmissibility - Frobenius Norm');
+  end
+#+end_src
+
+** Compute the Compliance
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/computeCompliance.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:computeCompliance>>
+
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  function [C, C_norm, freqs] = computeCompliance(args)
+  % computeCompliance -
+  %
+  % Syntax: [C, C_norm, freqs] = computeCompliance(args)
+  %
+  % Inputs:
+  %    - args - Structure with the following fields:
+  %        - plots [true/false] - Should plot the transmissilibty matrix and its Frobenius norm
+  %        - freqs [] - Frequency vector to estimate the Frobenius norm
+  %
+  % Outputs:
+  %    - C      [6x6 ss] - Compliance matrix
+  %    - C_norm [length(freqs)x1] - Frobenius norm of the Compliance matrix
+  %    - freqs  [length(freqs)x1] - Frequency vector in [Hz]
+#+end_src
+
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+    arguments
+      args.plots logical {mustBeNumericOrLogical} = false
+      args.freqs double {mustBeNumeric, mustBeNonnegative} = logspace(1,4,1000)
+    end
+#+end_src
+
+#+begin_src matlab
+  freqs = args.freqs;
+#+end_src
+
+*** Identification of the Compliance Matrix
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  %% Options for Linearized
+  options = linearizeOptions;
+  options.SampleTime = 0;
+
+  %% Name of the Simulink File
+  mdl = 'stewart_platform_model';
+
+  %% Input/Output definition
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Disturbances/F_ext'],      1, 'openinput');  io_i = io_i + 1; % External forces [N, N*m]
+  io(io_i) = linio([mdl, '/Absolute Motion Sensor'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
+
+  %% Run the linearization
+  C = linearize(mdl, io, options);
+  C.InputName  = {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
+  C.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
+#+end_src
+
+If wanted, the 6x6 transmissibility matrix is plotted.
+#+begin_src matlab
+  p_handle = zeros(6*6,1);
+
+  if args.plots
+    fig = figure;
+    for ix = 1:6
+      for iy = 1:6
+        p_handle((ix-1)*6 + iy) = subplot(6, 6, (ix-1)*6 + iy);
+        hold on;
+        plot(freqs, abs(squeeze(freqresp(C(ix, iy), freqs, 'Hz'))), 'k-');
+        set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+        if ix < 6
+            xticklabels({});
+        end
+        if iy > 1
+            yticklabels({});
+        end
+      end
+    end
+
+    linkaxes(p_handle, 'xy')
+    xlim([freqs(1), freqs(end)]);
+
+    han = axes(fig, 'visible', 'off');
+    han.XLabel.Visible = 'on';
+    han.YLabel.Visible = 'on';
+    xlabel(han, 'Frequency [Hz]');
+    ylabel(han, 'Compliance [m/N, rad/(N*m)]');
+  end
+#+end_src
+
+*** Computation of the Frobenius norm
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  freqs = args.freqs;
+
+  C_norm = zeros(length(freqs), 1);
+
+  for i = 1:length(freqs)
+    C_norm(i) = sqrt(trace(freqresp(C, freqs(i), 'Hz')*freqresp(C, freqs(i), 'Hz')'));
+  end
+#+end_src
+
+#+begin_src matlab
+  if args.plots
+    figure;
+    plot(freqs, C_norm)
+    set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+    xlabel('Frequency [Hz]');
+    ylabel('Compliance - Frobenius Norm');
+  end
+#+end_src
diff --git a/src/initializeController.m b/src/initializeController.m
new file mode 100644
index 0000000..440a316
--- /dev/null
+++ b/src/initializeController.m
@@ -0,0 +1,22 @@
+function [controller] = initializeController(args)
+% initializeController - Initialize the Controller
+%
+% Syntax: [] = initializeController(args)
+%
+% Inputs:
+%    - args - Can have the following fields:
+
+arguments
+  args.type   char   {mustBeMember(args.type, {'open-loop', 'iff', 'dvf'})} = 'open-loop'
+end
+
+controller = struct();
+
+switch args.type
+  case 'open-loop'
+    controller.type = 0;
+  case 'iff'
+    controller.type = 1;
+  case 'dvf'
+    controller.type = 2;
+end
