diff --git a/Matlab2Ros/RunFirst.m b/Matlab2Ros/RunFirst.m
index 5b018918c0c63629500659299f3dbedbdeef6421..1d7e9eaabf504022ba21679f17b13a4ba5014477 100644
--- a/Matlab2Ros/RunFirst.m
+++ b/Matlab2Ros/RunFirst.m
@@ -1,4 +1,4 @@
 setenv('ROS_MASTER_URI','http://10.41.146.237:11311')
 %setenv('ROS_IP','10.13.102.111')
-setenv('ROS_IP','10.13.112.132')
+setenv('ROS_IP','10.13.111.74')
 rosinit
diff --git a/Matlab2Ros/slprj/_jitprj/jitEngineAccessInfo.mat b/Matlab2Ros/slprj/_jitprj/jitEngineAccessInfo.mat
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc81c1828d70085d38b4639115e8ed5d42dc39
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new file mode 100644
index 0000000000000000000000000000000000000000..d61b15a3f6e41fdc48f897d6d2856c56d2aca8fa
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new file mode 100644
index 0000000000000000000000000000000000000000..d3195294efa4a673071e8f5be2afd90b534ebed0
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diff --git a/Matlab2Ros/slprj/_jitprj/sQRVH0DumR1cspRSdFGNkjC.l b/Matlab2Ros/slprj/_jitprj/sQRVH0DumR1cspRSdFGNkjC.l
new file mode 100644
index 0000000000000000000000000000000000000000..31d9e6b5b9221cf109f6fc6a5c9833b0acd42830
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diff --git a/Matlab2Ros/slprj/_jitprj/sQRVH0DumR1cspRSdFGNkjC.mat b/Matlab2Ros/slprj/_jitprj/sQRVH0DumR1cspRSdFGNkjC.mat
new file mode 100644
index 0000000000000000000000000000000000000000..9728421b669250f11c794d5ab43c3ea508774554
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diff --git a/Matlab2Ros/slprj/_jitprj/sfsheBn2FnjTBNgdNKz9qtC.l b/Matlab2Ros/slprj/_jitprj/sfsheBn2FnjTBNgdNKz9qtC.l
new file mode 100644
index 0000000000000000000000000000000000000000..0da18a0db35819905ad5ec351b3aa2046b16a9f4
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diff --git a/Matlab2Ros/slprj/_jitprj/sfsheBn2FnjTBNgdNKz9qtC.mat b/Matlab2Ros/slprj/_jitprj/sfsheBn2FnjTBNgdNKz9qtC.mat
new file mode 100644
index 0000000000000000000000000000000000000000..a978cd2b0ee573715c1397f7405818cf0db90a38
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diff --git a/Matlab2Ros/slprj/_sfprj/EMLReport/IlGqaKA5Pof7Jo8duCVw2F.mat b/Matlab2Ros/slprj/_sfprj/EMLReport/IlGqaKA5Pof7Jo8duCVw2F.mat
new file mode 100644
index 0000000000000000000000000000000000000000..15dcdc11971190483289f17849cadb1797e21c19
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diff --git a/Matlab2Ros/slprj/_sfprj/EMLReport/emlReportAccessInfo.mat b/Matlab2Ros/slprj/_sfprj/EMLReport/emlReportAccessInfo.mat
new file mode 100644
index 0000000000000000000000000000000000000000..f141ade3d966f9ec9f022f1833ab698c8a3fad9f
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diff --git a/Matlab2Ros/slprj/_sfprj/EMLReport/s3VFK6HzARmHUfoh6NU1DvB.mat b/Matlab2Ros/slprj/_sfprj/EMLReport/s3VFK6HzARmHUfoh6NU1DvB.mat
new file mode 100644
index 0000000000000000000000000000000000000000..70c1ee184ce64a464b013c9e787a6ef9a03d7d72
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diff --git a/Matlab2Ros/slprj/_sfprj/EMLReport/sQRVH0DumR1cspRSdFGNkjC.mat b/Matlab2Ros/slprj/_sfprj/EMLReport/sQRVH0DumR1cspRSdFGNkjC.mat
new file mode 100644
index 0000000000000000000000000000000000000000..fc7c3ef40717b7d52146e53bea0c6dec0451df1a
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diff --git a/Matlab2Ros/slprj/_sfprj/EMLReport/sfsheBn2FnjTBNgdNKz9qtC.mat b/Matlab2Ros/slprj/_sfprj/EMLReport/sfsheBn2FnjTBNgdNKz9qtC.mat
new file mode 100644
index 0000000000000000000000000000000000000000..83c7c1a23c103898efb352a0474f6ae5bc1715bd
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diff --git a/Matlab2Ros/slprj/_sfprj/precompile/XG5elfa2pTd09diKUKdeSG.mat b/Matlab2Ros/slprj/_sfprj/precompile/XG5elfa2pTd09diKUKdeSG.mat
new file mode 100644
index 0000000000000000000000000000000000000000..1d66bdff258dec7396c849b7082509cad22f35ee
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diff --git a/Matlab2Ros/slprj/_sfprj/precompile/autoInferAccessInfo.mat b/Matlab2Ros/slprj/_sfprj/precompile/autoInferAccessInfo.mat
new file mode 100644
index 0000000000000000000000000000000000000000..59f646da88e399f0266466b45efd58c0aa07e0c7
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diff --git a/Matlab2Ros/slprj/_sfprj/precompile/m39OF4CX3Uouf6qgTzTCsF.mat b/Matlab2Ros/slprj/_sfprj/precompile/m39OF4CX3Uouf6qgTzTCsF.mat
new file mode 100644
index 0000000000000000000000000000000000000000..ba6629cd441e619f431b53222d9d6db1e72c9bb1
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diff --git a/Matlab2Ros/slprj/_sfprj/precompile/vgP3DCSQsS5DN6YG6DxuPH.mat b/Matlab2Ros/slprj/_sfprj/precompile/vgP3DCSQsS5DN6YG6DxuPH.mat
new file mode 100644
index 0000000000000000000000000000000000000000..12adb275b588b067f945c8092986667ca575a0cf
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diff --git a/Matlab2Ros/slprj/_sfprj/precompile/z7mJeGgZ5JTeFRunBdrVYB.mat b/Matlab2Ros/slprj/_sfprj/precompile/z7mJeGgZ5JTeFRunBdrVYB.mat
new file mode 100644
index 0000000000000000000000000000000000000000..0e94f646b19ba672b4849a978e26ebf2e9f100e3
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diff --git a/Matlab2Ros/slprj/_sfprj/testSim/_self/sfun/info/binfo.mat b/Matlab2Ros/slprj/_sfprj/testSim/_self/sfun/info/binfo.mat
new file mode 100644
index 0000000000000000000000000000000000000000..d29491f71f245372dd9c123177e5709716483039
Binary files /dev/null and b/Matlab2Ros/slprj/_sfprj/testSim/_self/sfun/info/binfo.mat differ
diff --git a/Matlab2Ros/slprj/_sfprj/testSim/amsi_serial.mat b/Matlab2Ros/slprj/_sfprj/testSim/amsi_serial.mat
new file mode 100644
index 0000000000000000000000000000000000000000..206c8c7e332c15dfe7dd9104ae41c6fc23d69f14
Binary files /dev/null and b/Matlab2Ros/slprj/_sfprj/testSim/amsi_serial.mat differ
diff --git a/Matlab2Ros/slprj/sim/varcache/testSim/checksumOfCache.mat b/Matlab2Ros/slprj/sim/varcache/testSim/checksumOfCache.mat
index 9859908d76cdc4e08febfcc73d851a828fb2bde2..d8587db59d1377831c399818c15d0144abdaa1d7 100644
Binary files a/Matlab2Ros/slprj/sim/varcache/testSim/checksumOfCache.mat and b/Matlab2Ros/slprj/sim/varcache/testSim/checksumOfCache.mat differ
diff --git a/Matlab2Ros/slprj/sim/varcache/testSim/tmwinternal/simulink_cache.xml b/Matlab2Ros/slprj/sim/varcache/testSim/tmwinternal/simulink_cache.xml
index ddc9c25cb87489838e64848e9edc6315bd10a7c0..41eae1dc0b26f176ed0ab7c4c0515fa830a96cfc 100644
--- a/Matlab2Ros/slprj/sim/varcache/testSim/tmwinternal/simulink_cache.xml
+++ b/Matlab2Ros/slprj/sim/varcache/testSim/tmwinternal/simulink_cache.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/19700101">
-  <slcache.FileAttributes type="slcache.FileAttributes" uuid="03127464-4ce6-4eca-a3ed-fe703d6085cd">
-    <checksum>sNLAk9tT4LZ3V/GLOUTkkg==</checksum>
+  <slcache.FileAttributes type="slcache.FileAttributes" uuid="adccc024-c770-41d5-8809-8c427923cf91">
+    <checksum>NpAkioFeCHRTSuKj4QAuMQ==</checksum>
   </slcache.FileAttributes>
 </MF0>
\ No newline at end of file
diff --git a/Matlab2Ros/slprj/sim/varcache/testSim/varInfo.mat b/Matlab2Ros/slprj/sim/varcache/testSim/varInfo.mat
index 1987543379ba08a73e443267bd1852dff40b5e62..8adffbce944aa5223529a6f409bfaba8d8609ec8 100644
Binary files a/Matlab2Ros/slprj/sim/varcache/testSim/varInfo.mat and b/Matlab2Ros/slprj/sim/varcache/testSim/varInfo.mat differ
diff --git a/Matlab2Ros/testSim.slx b/Matlab2Ros/testSim.slx
index 68e3dea44c92da5014ec7e31e5ae5825865773a4..cd3a9ac491eb5265778e83967f926beac609befa 100644
Binary files a/Matlab2Ros/testSim.slx and b/Matlab2Ros/testSim.slx differ
diff --git a/Matlab2Ros/testSim.slx.r2019b b/Matlab2Ros/testSim.slx.r2019b
new file mode 100644
index 0000000000000000000000000000000000000000..68e3dea44c92da5014ec7e31e5ae5825865773a4
Binary files /dev/null and b/Matlab2Ros/testSim.slx.r2019b differ
diff --git a/Matlab2Ros/testSim.slxc b/Matlab2Ros/testSim.slxc
index b1bf6a9783b58ebf7f6dc14865f43d1a2964517f..2144a6f3ad4a049322ae748fe5d47c5ab4d3d970 100644
Binary files a/Matlab2Ros/testSim.slxc and b/Matlab2Ros/testSim.slxc differ
diff --git a/MauriceData/InnerCtrl.m b/MauriceData/InnerCtrl.m
index 6495b852f3cd6003bb2b0e06d0eadab4fb679381..cea9945501ee9529eb59d9b44251371178eb2acd 100644
--- a/MauriceData/InnerCtrl.m
+++ b/MauriceData/InnerCtrl.m
@@ -14,9 +14,11 @@ B = 2*(z-1)*(z+(T/Tm)-1);
 
 CharEqn = B+A ;
 
-riseTime = 0.085;
+riseTime = 0.4;
+%riseTime = 0.085;
 omega = 1.8/riseTime;
-settlingTime = 0.17;
+settlingTime = 0.5;
+%settlingTime = 0.17;
 zeta = 4.6/(omega*settlingTime);
 
 dclp = roots([1 2*zeta*omega omega^2])
@@ -35,14 +37,14 @@ eqn2 = 0.5*(1.7594 + 0.002407*Ki - 0.2407*Kp) == dclpz(1)*dclpz(2);
  Ki=double(Ki_Sol);
  Kp=double(Kp_Sol);
  
- %Test script
-t=[0.02:0.02:70*0.02];
-u=[zeros(size(1:20)) 2.2*linspace(1,1,50)];
-y=[(T*Ki_Sol/2 + Kp_Sol)*u(1)];
-
-for i=2:1:length(u)
-    y(end+1)=(T*Ki_Sol/2 + Kp_Sol)*u(i) +(T*Ki_Sol/2-Kp_Sol)*u(i-1); 
-end
+%  %Test script
+% t=[0.02:0.02:70*0.02];
+% u=[zeros(size(1:20)) 2.2*linspace(1,1,50)];
+% y=[(T*Ki_Sol/2 + Kp_Sol)*u(1)];
+% 
+% for i=2:1:length(u)
+%     y(end+1)=(T*Ki_Sol/2 + Kp_Sol)*u(i) +(T*Ki_Sol/2-Kp_Sol)*u(i-1); 
+% end
 
 % plot(t,y)
 % hold on