diff --git a/matlab/StateSpaceControlDesign.m b/matlab/StateSpaceControlDesign.m
index a627b6a..cd15116 100644
--- a/matlab/StateSpaceControlDesign.m
+++ b/matlab/StateSpaceControlDesign.m
@@ -16,43 +16,35 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
   %
   % https://www.youtube.com/watch?v=Lax3etc837U
 
-  ss_ol=mot.ss;
-  ss_ol.Name='open loop';
+  %ss_ol=mot.ssPlt;
+  ss_ol_plt=mot.ssPlt; %real plant (model of real plant)
+  ss_ol_plt.Name='open loop plant';
+  ss_ol_mdl=mot.ssMdl;%ssMdl; %simplified model (observable,controlable) for observer
+  ss_ol_mdl.Name='open loop model';
+
+  [Ap,Bp,Cp,Dp]=ssdata(ss_ol_plt);
+  [Am,Bm,Cm,Dm]=ssdata(ss_ol_mdl);
+
+  
   %sys=ss(sys.A,sys.B,sys.C(3,:),0); % this would reduce the outputs to position only
 
-  figure();h=bodeplot(ss_ol);
+  figure();h=bodeplot(ss_ol_plt,ss_ol_mdl);
   setoptions(h,'IOGrouping','all')
-  A=ss_ol.A;
-  B=ss_ol.B;
-  C=ss_ol.C;
-  D=ss_ol.D;
-
-  P=ctrb(A,B);
-  if rank(A)==rank(P)
-    disp('sys controlable')
-  else
-    disp('sys not controlable')
-  end
-
-  Q=obsv(A,C);
-  if rank(A)==rank(Q)
-    disp('sys observable')
-  else
-    disp('sys not observable')
-  end
-
 
   % step answer on open loop:
   t = 0:1E-4:.5;
   u = ones(size(t));
-  x0 = zeros(1,length(ss_ol.A));
+  xp0 = zeros(1,length(Ap));
+  xm0 = zeros(1,length(Am));
 
-  [y,t,x] = lsim(ss_ol,u,t,x0);
-  figure();plot(t,y);title('step on open loop');
+  [yp,t,x] = lsim(ss_ol_plt,u,t,xp0);
+  [ym,t,x] = lsim(ss_ol_mdl,u,t,xm0);
+  figure();plot(t,yp,t,ym,'--');title('step on open loop (plant and model)');
+  legend('plt.iqMeas','plt.iqVolts','plt.actPos','mdl.iqMeas','mdl.iqVolts','mdl.actPos')
 
-  poles = eig(A);
-  w0=abs(poles);
-  ang=angle(-poles);
+  poles = eig(Am);
+  %w0=abs(poles);
+  %ang=angle(-poles);
   %-------------------
   %p=w0.*exp(j.*ang)
 
@@ -61,38 +53,57 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
   %place poles for the controller feedback
   if motid==1
     %2500rad/s = 397Hz -> locate poles here
-    p1=-3300+2800i;
-    p2=-2700+500i;
-    p3=-2500+10i;
-    %p1=-3300+2800i;
-    %p2=-1500+500i;
-    %p3=-1200+10i;
-    P=[p1 p1' p2 p2' p3 p3'];
+    %6300rad/s = 1027Hz -> locate poles here
+    if length(poles)==4
+      p1=-6300+2800i;
+      p2=-6200+1500i;   
+      P=[p1 p1' p2 p2'];
+    else
+      p1=-3300+2800i;
+      p2=-2700+500i;
+      p3=-2500+10i;
+      %p1=-3300+2800i;
+      %p2=-1500+500i;
+      %p3=-1200+10i;
+      P=[p1 p1' p2 p2' p3 p3'];
+    end
   else
     %2500rad/s = 397Hz -> locate poles here
-    p1=-3300+2800i;
-    p2=-1900+130i;
-    p3=-2900+80i;
-    p4=-2300+450i;
-    p5=-2000+20i;
-    p6=-1500+10i;
-    %p1=-3300+2800i;
-    %p2=-1500+500i;
-    %p3=-1200+10i;
-    P=[p1 p1' p2 p2' p3 p3'];% p4 p4' p5 p5' p6 p6'];
+    %6300rad/s = 1027Hz -> locate poles here
+    if length(poles)==4
+      p1=-6300+2800i;
+      p2=-6200+1500i;   
+      P=[p1 p1' p2 p2'];
+    else
+      p1=-3300+2800i;
+      p2=-1900+130i;
+      p3=-2900+80i;
+      p4=-2300+450i;
+      p5=-2000+20i;
+      p6=-1500+10i;
+      %p1=-3300+2800i;
+      %p2=-1500+500i;
+      %p3=-1200+10i;
+      P=[p1 p1' p2 p2' p3 p3'];% p4 p4' p5 p5' p6 p6'];
+    end
   end
-  K = place(A,B,P);
-  %K = acker(A,B,P);
-  V=-1./(C*(A-B*K)^-1*B); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
+  K = place(Am,Bm,P);
+  %K = acker(Am,Bm,Pm);
+  V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
   %Nbar(2)=1; %the voltage stuff is crap for now
   if length(V)>1
     V=V(3); % only the position scaling needed
   end
+  %prefilter to compensate non observable resonance frequencies
+  numV=mot.prefilt.Numerator{1};
+  denV=mot.prefilt.Denominator{1};
 
+  
+  
   % step answer on closed loop with space state controller:
   t = 0:1E-4:.5;
-  ss_cl = ss(A-B*K,B*V,C,0,'Name','space state controller','InputName',mot.ss.InputName,'OutputName',mot.ss.OutputName);
-  [y,t,x]=lsim(ss_cl,V*u,t,x0);
+  ss_cl = ss(Am-Bm*K,Bm*V,Cm,0,'Name','space state controller','InputName',mot.ssMdl.InputName,'OutputName',mot.ssMdl.OutputName);
+  [y,t,x]=lsim(ss_cl,V*u,t,xm0);
   figure();plot(t,y);title('step on closed loop');
   
   
@@ -102,29 +113,38 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
   if motid==1
     op1=(p1*5);
     op2=(p2*5);
-    op3=(p3*5);
-    OP=[op1 op1' op2 op2' op3 op3'];
+    if length(poles)>4
+      op3=(p3*5);
+      OP=[op1 op1' op2 op2' op3 op3'];
+    else
+      OP=[op1 op1' op2 op2'];
+    end
+      
   else
     op1=(p1*2);
     op2=(p2*2);
-    op3=(p3*2);
-    op4=(p4*2);
-    op5=(p5*2);
-    op6=(p6*2);
-    OP=[op1 op1' op2 op2' op3 op3'];% op4 op4' op5 op5' op6 op6']; 
+    if length(poles)>4
+      op3=(p3*2);
+      op4=(p4*2);
+      op5=(p5*2);
+      op6=(p6*2);
+      OP=[op1 op1' op2 op2' op3 op3'];% op4 op4' op5 op5' op6 op6']; 
+    else
+      OP=[op1 op1' op2 op2'];
+    end
   end
-  L=place(A',C',OP)';
+  L=place(Am',Cm',OP)';
   %L=acker(A',C',OP)';
 
-  At = [ A-B*K             B*K
-         zeros(size(A))    A-L*C ];
-  Bt = [    B*V
-         zeros(size(B)) ];
-  Ct = [ C    zeros(size(C)) ];
+  At = [ Am-Bm*K             Bm*K
+         zeros(size(Am))    Am-L*Cm ];
+  Bt = [    Bm*V
+         zeros(size(Bm)) ];
+  Ct = [ Cm    zeros(size(Cm)) ];
 
   % step answer on closed loop with observer controller:
-  ss_o = ss(At,Bt,Ct,0,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ss.OutputName);
-  figure();lsim(ss_o,ones(size(t)),t,[x0 x0]);title('step on closed loop with observer');
+  ss_o = ss(At,Bt,Ct,0,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ssMdl.OutputName);
+  figure();lsim(ss_o,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer');
 
   
   % *** disctrete observer controller ***
@@ -134,7 +154,7 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
   ss_od .Name='discrete obsvr ctrl';
   % step answer on closed loop with disctrete observer controller:
   t = 0:Ts:.05;
-  figure();lsim(ss_od ,ones(size(t)),t,[x0 x0]);title('step on closed loop with observer discrete');
+  figure();lsim(ss_od ,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer discrete');
 
 
   %plot all bode diagrams of desPos->actPos
@@ -148,8 +168,8 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
 
   
   %calculate matrices for the simulink system
-  Ao=A-L*C;
-  Bo=[B L];
+  Ao=Am-L*Cm;
+  Bo=[Bm L];
   Co=K;
   Do=zeros(size(Co,1),size(Bo,2));
   mdlName='observer';
@@ -157,7 +177,7 @@ function [ssc]=StateSpaceControlDesign(mot,motid)
 
   %state space controller
   ssc=struct();
-  for k=["Ts","A","B","C","D","Ao","Bo","Co","Do","V","K","L","ss_cl","ss_o","ss_od"]
+  for k=["Ts","Ap","Bp","Cp","Dp","Ao","Bo","Co","Do","V","K","L","ss_cl","ss_o","ss_od","numV","denV"]
     ssc=setfield(ssc,k,eval(k));
   end
 
diff --git a/matlab/identifyFxFyStage.m b/matlab/identifyFxFyStage.m
index c594ff9..5bf2470 100644
--- a/matlab/identifyFxFyStage.m
+++ b/matlab/identifyFxFyStage.m
@@ -17,7 +17,8 @@ function [mot1,mot2]=identifyFxFyStage()
   % meas        : a MATLAB idfrd model with data w,mag,phase
   % mdl         : a structure with the python numerators and denominators for the transfer functions
   % tfc,tf_mdl  : various transfer functions
-  % ss          : the final continous state space model of the plant
+  % ssPlt       : the final continous state space model of the plant (not observable, not controlable)
+  % ssMdl       : the simplified continous state space model for the observer  (observable, controlable)
   %
   % The used data files (generated from Python) are:
   % (located for now in: /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/ )
@@ -51,7 +52,6 @@ function [mot1,mot2]=identifyFxFyStage()
 
     fMdl=load(strcat(path,sprintf('model%d.mat',motid)));
     obj.mdl=fMdl;
-
   end
 
   function tfc=currstep(obj)
@@ -61,7 +61,7 @@ function [mot1,mot2]=identifyFxFyStage()
     s=str2ndOrd(tfc);
     t=(0:199)*50E-6;
     [y,t]=step(tfc,t);
-    f=figure();
+    figure();
     subplot(1,2,1);
     plot(t*1000,obj.currstep.OutputData(11:210),'b',t*1000,y*1000,'r');
     xlabel('ms')
@@ -83,6 +83,22 @@ function [mot1,mot2]=identifyFxFyStage()
     s=sprintf('k:%g w0:%g damp:%g',k,w0,damp);
   end
 
+  function chkCtrlObsv(ss,s)
+    P=ctrb(ss.A,ss.B);
+    if rank(ss.A)==rank(P)
+      ct='';%controlable
+    else
+      ct='not ';%not controlable
+    end
+
+    Q=obsv(ss.A,ss.C);
+    if rank(ss.A)==rank(Q)
+      ob='';%sys observable
+    else
+      ob='not ';%not observable
+    end
+    disp([s,' is ',ct,'controlable and ',ob,'observable.']); 
+  end
 
   function mot=fyStage()
     mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',1);
@@ -102,7 +118,7 @@ function [mot1,mot2]=identifyFxFyStage()
     denc=myNorm(mot.mdl.denc);
     num1=myNorm(mot.mdl.num1);
     den1=myNorm(mot.mdl.den1);
-    num2=myNorm(mot.mdl.num2);
+    num2=myNorm(mot.mdl.num2); %resonance
     den2=myNorm(mot.mdl.den2);
     g1=tf(numc,denc);  % iqCmd->iqMeas
     s1=ss(g1);
@@ -114,15 +130,38 @@ function [mot1,mot2]=identifyFxFyStage()
     s2=ss(g2);
     s3=append(s1,s2);
     s3.A(3,2)=s3.C(1,2)*s3.B(3,2);
-    mot.ss=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
+    mot.ssPlt=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
+    mot.ssPlt.InputName{1}='iqCmd';
+    mot.ssPlt.OutputName{1}='iqMeas';
+    mot.ssPlt.OutputName{2}='iqVolts';
+    mot.ssPlt.OutputName{3}='actPos';
+    chkCtrlObsv(mot.ssPlt,'ssPlt fyStage');
+    %  u          +-----------+           y
+    %iqCmd------->|1         1|-------> iqMeas
+    %             |          2|-------> iqVolts
+    %             |          3|-------> actPos
+    %             +-----------+
+
+    %simplified model without resonance
+    g2=tf(num1,den1); %iqMeas->ActPos without resonance frequencies
+    s2=ss(g2);
+    s3=append(s1,s2);
+    s3.A(3,2)=s3.C(1,2)*s3.B(3,2);
+    mot.ssMdl=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
+    mot.ssMdl.InputName{1}='iqCmd';
+    mot.ssMdl.OutputName{1}='iqMeas';
+    mot.ssMdl.OutputName{2}='iqVolts';
+    mot.ssMdl.OutputName{3}='actPos';
+    chkCtrlObsv(mot.ssMdl,'ssMdl fyStage');
+
+    %filter in front of plant to suppress resonances (inverse of reonance)
+    den=num2;%num=1;
+    num=den2;%den=[1 0 0];
+    mot.prefilt=tf(num,den);
 
-    mot.ss.InputName{1}='iqCmd';
-    mot.ss.OutputName{1}='iqMeas';
-    mot.ss.OutputName{2}='iqVolts';
-    mot.ss.OutputName{3}='actPos';
     %h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
     %h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
-    tmp=tf(mot.ss);h=bodeplot(mot.meas,'r',tmp(3,1),'g',mot.w);
+    t1=tf(mot.ssPlt);t2=tf(mot.ssMdl);h=bodeplot(mot.meas,'r',t1(3,1),'g',t2(3,1),'b',mot.w);
     setoptions(h,'FreqUnits','Hz','Grid','on');
 
   end
@@ -149,24 +188,22 @@ function [mot1,mot2]=identifyFxFyStage()
     denc=myNorm(mot.mdl.denc);
     num1=myNorm(mot.mdl.num1);
     den1=myNorm(mot.mdl.den1);
-    num2=myNorm(mot.mdl.num2);
+    num2=myNorm(mot.mdl.num2); %resonance
     den2=myNorm(mot.mdl.den2);
-    num3=myNorm(mot.mdl.num3);
+    num3=myNorm(mot.mdl.num3); %resonance
     den3=myNorm(mot.mdl.den3);
-    num4=myNorm(mot.mdl.num4);
+    num4=myNorm(mot.mdl.num4); %resonance
     den4=myNorm(mot.mdl.den4);
-    num5=myNorm(mot.mdl.num5);
+    num5=myNorm(mot.mdl.num5); %resonance
     den5=myNorm(mot.mdl.den5);
-    num=myNorm(mot.mdl.num);
-    den=myNorm(mot.mdl.den);
+    %num=myNorm(mot.mdl.num);
+    %den=myNorm(mot.mdl.den);
     g1=tf(numc,denc);  % iqCmd->iqMeas
     s1=ss(g1);
     s1.C=[s1.C; 1E5* 2.4E-3 1E-3*s1.C(2)*8.8];   % add output iqVolts: iqVolts= i_meas*R+i_meas'*L 2.4mH 8.8Ohm (took random scaling values)
     %tf(s1) % display all transfer functions
     num=conv(conv(conv(conv(num1,num2),num3),num4),num5);%num=1;
     den=conv(conv(conv(conv(den1,den2),den3),den4),den5);%den=[1 0 0];
-    num=conv(num1,num2);%num=1;
-    den=conv(den1,den2);%den=[1 0 0];
 
     g2=tf(num,den); %iqMeas->ActPos
     s2=ss(g2);
@@ -177,21 +214,37 @@ function [mot1,mot2]=identifyFxFyStage()
     s3.A(3,2)=s3.C(1,2)*s3.B(3,2);
 
     s3.A(3,2)=s3.C(1,2)*s3.B(3,2);
-    mot.ss=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
+    mot.ssPlt=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
 
-    mot.ss.InputName{1}='iqCmd';
-    mot.ss.OutputName{1}='iqMeas';
-    mot.ss.OutputName{2}='iqVolts';
-    mot.ss.OutputName{3}='actPos'  ;
+    mot.ssPlt.InputName{1}='iqCmd';
+    mot.ssPlt.OutputName{1}='iqMeas';
+    mot.ssPlt.OutputName{2}='iqVolts';
+    mot.ssPlt.OutputName{3}='actPos'  ;
+    chkCtrlObsv(mot.ssPlt,'ssPlt fxStage');
     %  u          +-----------+           y
     %iqCmd------->|1         1|-------> iqMeas
     %             |          2|-------> iqVolts
     %             |          3|-------> actPos
     %             +-----------+
 
+    %simplified model without resonance
+    g2=tf(num1,den1); %iqMeas->ActPos without resonance frequencies
+    s2=ss(g2);
+    s3=append(s1,s2);
+    s3.A(3,2)=s3.C(1,2)*s3.B(3,2);
+    mot.ssMdl=ss(s3.A,s3.B(:,1),s3.C,0); % single input, remove input iqMeas
+    mot.ssMdl.InputName=mot.ssPlt.InputName;
+    mot.ssMdl.OutputName=mot.ssPlt.OutputName;
+    chkCtrlObsv(mot.ssMdl,'ssMdl fxStage');
+
+    %filter in front of plant to suppress resonances (inverse of reonance)
+    den=conv(conv(conv(num2,num3),num4),num5);%num=1;
+    num=conv(conv(conv(den2,den3),den4),den5);%den=[1 0 0];
+    mot.prefilt=tf(num,den);
+
     %h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
     %h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
-    tmp=tf(mot.ss);h=bodeplot(mot.meas,'r',tmp(3,1),'g',mot.w);
+    t1=tf(mot.ssPlt);t2=tf(mot.ssMdl);h=bodeplot(mot.meas,'r',t1(3,1),'g',t2(3,1),'b',mot.w);
     setoptions(h,'FreqUnits','Hz','Grid','on');
     %controlSystemDesigner('bode',1,mot.tf_py);    % <<<<<<<<< This opens a transferfiûnction that can be edited
 
diff --git a/matlab/observer.slx b/matlab/observer.slx
index de7a0a1..2ad9c10 100644
Binary files a/matlab/observer.slx and b/matlab/observer.slx differ
diff --git a/python/MXTuning.py b/python/MXTuning.py
index ddccd99..53cc6cb 100755
--- a/python/MXTuning.py
+++ b/python/MXTuning.py
@@ -339,9 +339,9 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
       #tune.init_stage();
       plt.close('all')
       #tune.custom_chirp()
-      tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=0,file='/tmp/cst_chirp0.npz')
-      tune.custom_chirp(motor=2,minFrq=1,maxFrq=1000,tSec=5,mode=1,file='/tmp/cst_chirp1.npz')
-      tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=2,file='/tmp/cst_chirp2.npz')
+      tune.custom_chirp(motor=1,minFrq=100,maxFrq=3000,amp=10,tSec=5,mode=0,file='/tmp/cst_chirp0.npz')
+      #tune.custom_chirp(motor=2,minFrq=1,maxFrq=1000,tSec=5,mode=1,file='/tmp/cst_chirp1.npz')
+      #tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=2,file='/tmp/cst_chirp2.npz')
 
     plt.show()
   #------------------ Main Code ----------------------------------