diff --git a/figs/SP_assembly.pdf b/figs/SP_assembly.pdf
new file mode 100644
index 0000000..3d635ca
Binary files /dev/null and b/figs/SP_assembly.pdf differ
diff --git a/figs/gravimeter_model_K.pdf b/figs/gravimeter_model_K.pdf
new file mode 100644
index 0000000..49cac87
Binary files /dev/null and b/figs/gravimeter_model_K.pdf differ
diff --git a/figs/gravimeter_model_KM.pdf b/figs/gravimeter_model_KM.pdf
new file mode 100644
index 0000000..353b147
Binary files /dev/null and b/figs/gravimeter_model_KM.pdf differ
diff --git a/figs/gravimeter_model_M.pdf b/figs/gravimeter_model_M.pdf
new file mode 100644
index 0000000..8e91603
Binary files /dev/null and b/figs/gravimeter_model_M.pdf differ
diff --git a/figs/leg_model.pdf b/figs/leg_model.pdf
new file mode 100644
index 0000000..b8c957c
Binary files /dev/null and b/figs/leg_model.pdf differ
diff --git a/index.org b/index.org
index df72f95..2265fab 100644
--- a/index.org
+++ b/index.org
@@ -12,6 +12,9 @@
#+HTML_HEAD:
#+HTML_HEAD:
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+
#+HTML_MATHJAX: align: center tagside: right font: TeX
#+PROPERTY: header-args:matlab :session *MATLAB*
@@ -221,6 +224,7 @@ The bode plot of all elements of the plant are shown in Figure [[fig:open_loop_t
#+end_src
#+name: fig:open_loop_tf
+#+attr_latex: :width \linewidth
#+caption: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers
#+RESULTS:
[[file:figs/open_loop_tf.png]]
@@ -1605,10 +1609,12 @@ We initialize other parameters:
#+end_src
#+name: fig:stewart_simscape
+#+attr_latex: :width \linewidth
#+caption: General view of the Simscape Model
[[file:figs/stewart_simscape.png]]
#+name: fig:stewart_platform_details
+#+attr_latex: :width \linewidth
#+caption: Simscape model of the Stewart platform
[[file:figs/stewart_platform_details.png]]
diff --git a/index.pdf b/index.pdf
new file mode 100644
index 0000000..26f1284
Binary files /dev/null and b/index.pdf differ