diff --git a/matlab/DeltaTauOptimizer.m b/matlab/DeltaTauOptimizer.m
index 59da7aa..93cc10a 100644
--- a/matlab/DeltaTauOptimizer.m
+++ b/matlab/DeltaTauOptimizer.m
@@ -9,23 +9,28 @@ function DeltaTauOptimizer()
   if isempty(mot)
     mot=identifyFxFyStage(7);
   end
-  %SIM1=[1 1; 1 2; 8 2; 9 2];
+  %SIM1=[1 1; 1 2; 8 2; 9 2;9 3];
   %SIM2=[1 1; 1 2; 8 2; 9 2];
-  SIM1=[10 0;7 3];
-  SIM1=[10 0];
-  %SIM2=[9 0];
-  if 1 || isempty(simData1)
+  SIM1=[9 1; 9 2; 9 3; 9 4];
+  SIM2=[9 1; 9 2; 9 3; 9 4];
+  %SIM2=[8 1; 8 2; 8 3; 8 4];
+  %SIM2=[8 1; 8 2; 9 1; 9 2];
+  %SIM2=[8 2; 9 2;8 3; 9 3];
+  %SIM2=[8 3; 9 3;8 4; 9 4];
+  %SIM2=[9 4;9 0];
+  %SIM2=[8 3; 9 3];
+  if isempty(simData1)
     close all;
     simData1=ExecSim(mot{1},SIM1);
   end
-  %if isempty(simData2)
-  %  close all;
-  %  simData2=ExecSim(mot{2},SIM2);
-  %end
+  if isempty(simData2)
+    close all;
+    simData2=ExecSim(mot{2},SIM2);
+  end
   close all;
   %test()
   bodeSim(simData1);
-  %bodeSim(simData2);
+  bodeSim(simData2);
 end
 
 function test()
@@ -37,7 +42,15 @@ function test()
   %pb.C=[1   -1.3236    6.2472  -11.8555   11.3067   -5.4188    1.0440];
   %pb.D=[1.0000   -6.6330   17.6945  -24.5314   18.7409   -7.5020    1.2309];
   global tfs
-  tfz=c2d(tf(tfs),1/5000)
+  Ts=1/5000;
+  frq0=55;d0=.5;
+  frq1=85;d1=.5;
+  w0=frq0*2*pi;
+  w1=frq1*2*pi;
+  tf0=tf([w0^2],[1 2*d0*w0 w0^2 ])
+  tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
+  tfs=tf0*tf1
+  tfz=c2d(tfs,Ts)
   h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
   pb.C=tfz.Numerator{1};
   pb.D=tfz.Denominator{1};
@@ -59,26 +72,7 @@ function test()
 %   tfz=c2d(tfs,1/5000)
 %   h=bodeplot(tfs,tfz)
 %   setoptions(h,'FreqUnits','Hz','Grid','on');
-  
-  
-  %C=num=0   -1.3236    6.2472  -11.8555   11.3067   -5.4188    1.0440
-  %D=den=1.0000   -6.6330   17.6945  -24.5314   18.7409   -7.5020    1.2309
-  % controlSystemDesigner('bode',1,tf(1,1))
- % controlSystemDesigner( 1/simData2(2).tfEst2)
- % controlSystemDesigner(tfa)
- 
- %C =
- %  1035.3 (s+217.8)
- % -------------------
- % (s+845.3) (s+266.8)
- 
- %  0.18956 (z-0.9574)
- % --------------------
- % (z-0.948) (z-0.8444)
- 
-%    0.1896 z - 0.1815
-%  ----------------------
-%  z^2 - 1.792 z + 0.8006
+% controlSystemDesigner(tfa)
 end
 
 
@@ -132,5 +126,6 @@ function simData=bodeSim(simData)
   grid(ax1,'on');grid(ax2,'on');
   set(ax1, 'XScale', 'log');
   set(ax2, 'XScale', 'log');
+  linkaxes([ax1,ax2],'x')
   legend('Location','best');
 end
\ No newline at end of file
diff --git a/matlab/DeltaTauParam.m b/matlab/DeltaTauParam.m
index c6e2757..b6f6694 100644
--- a/matlab/DeltaTauParam.m
+++ b/matlab/DeltaTauParam.m
@@ -36,38 +36,22 @@ function [pb]=DeltaTauParam(mot,mdl,param)
       pb.ss_plt=mot.ss_dq;desc=desc+"dq"; pb.sel={3,[3]};
   end
   desc=desc+" param:";
+  curr2acc=mot.mdl.numq; %curr2acc curr_bit to acceleration: zero dB of simplified motion
+  pb.curr2acc=curr2acc;
   if mot.id==1
     %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
     %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
     switch param
       case 0 %scratch
         desc=desc+"scratch";
-        pl=[-300+550i -300-550i -2513];
-        [Am,Bm,Cm,Dm]=ssdata(mot.ss_dq);
-        K = place(Am,Bm,pl);
-        V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
-        V=V(end);
-        Kfb=K*(Cm^-1);
-        pb.V=V;
-        pb.Kfb=Kfb;
-
-        pb.Kp=V;
-        pb.B=Kfb(3)/V;
-        pb.Kvfb=Kfb(2)/pb.Ts;
-        fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb);
-
-        pb.Kvff=1*pb.Kvfb;
-        pb.Kafb=0;%Kfb(1)/(pb.Ts^2);
-        pb.Kaff=1*1/(1.548e04*(pb.Ts^2));
-        pb.Ki=0.02;
-        pb.MaxInt=1000;      
       case 1 %origin parameters
         desc=desc+"orig";
         pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000;
       case 2%enhances first step
-        desc=desc+"2";
-        pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
-      case 3%pole placement on simplified motion tf
+        desc=desc+"opt1";
+        pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(curr2acc*(pb.Ts^2));pb.MaxInt=1000;
+      case 3 %pole placement on ss_dq (simplified motion, no current loop)
+        desc=desc+"pp ss\_q";
         pl=[-1400 -1440];
         pl=[-300+350i -300-350i];
         [Am,Bm,Cm,Dm]=ssdata(mot.ss_q);
@@ -81,13 +65,31 @@ function [pb]=DeltaTauParam(mot,mdl,param)
         pb.Kp=V;
         pb.B=Kfb(2)/V;
         pb.Kvfb=Kfb(1)/pb.Ts;
-        fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb);
-
         pb.Kvff=pb.Kvfb;
-        pb.Kafb=0;
-        pb.Kaff=1/(1.548e04*(pb.Ts^2));
+        pb.Kaff=1/(curr2acc*(pb.Ts^2));
         pb.Ki=0.01; % lower 
         pb.MaxInt=1000;      
+        fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb);
+      case 4 %pole placement on ss_dq (simplified motion, simplified current loop)
+        desc=desc+"pp ss\_dq";
+        pl=[-300+350i -300-350i -2513];
+        [Am,Bm,Cm,Dm]=ssdata(mot.ss_dq);
+        K = place(Am,Bm,pl);
+        V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
+        V=V(end);
+        Kfb=K*(Cm^-1);
+        pb.V=V;
+        pb.Kfb=Kfb;
+
+        pb.Kp=V;
+        pb.B=Kfb(3)/V;
+        pb.Kvfb=Kfb(2)/pb.Ts;
+        pb.Kvff=1*pb.Kvfb;
+        pb.Kafb=Kfb(1)/(curr2acc*(pb.Ts^2));
+        pb.Kaff=1*1/(curr2acc*(pb.Ts^2))+pb.Kafb;
+        pb.Ki=0.01;
+        pb.MaxInt=1000;      
+        fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb);       
     end
     %pb.Kp=0.1;pb.Kvfb=0;pb.Ki=0.00;pb.Kvff=0;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
     %filter  [z^0 z^-1 ... z^-n];
@@ -100,14 +102,76 @@ function [pb]=DeltaTauParam(mot,mdl,param)
     switch param
       case 0 %scratch
         desc=desc+"scratch";
-        pb.Kp=22;pb.Kvfb=450;pb.Ki=0.02;pb.Kvff=450;pb.Kaff=4517;pb.MaxInt=1000;
+        pb.Kp=20.3255;
+        pb.Kvfb=582.4551;pb.Kvff=582.4551;
+        pb.Kaff=5595.2;pb.Kafb=1077.9;
+        pb.Ki=0.01;pb.MaxInt=1000;
+        
+%         Ts=pb.Ts;
+%         frq=75;d=.6;
+%         w0=frq*2*pi;
+%         tfs=tf([w0^2],[1 2*d*w0 w0^2 ])       
+%         global currTf
+%         frq0=55;d0=.5;
+%         frq1=85;d1=.5;
+%         w0=frq0*2*pi;
+%         w1=frq1*2*pi;
+%         tf0=tf([w0^2],[1 2*d0*w0 w0^2 ])
+%         tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
+%         tfs=tf0*tf1
+%         tfz=c2d(tfs,Ts)
+%         h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
+%         pb.C=tfz.Numerator{1};
+%         pb.D=tfz.Denominator{1};
+%         currTf=tfz       
+        
       case 1 %origin parameters
         desc=desc+"orig";
         pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=1500;pb.MaxInt=1000;
       case 2%enhances first step
-        desc=desc+"2";
+        desc=desc+"opt1";
         pb.Kp=22;pb.Kvfb=450;pb.Ki=0.02;pb.Kvff=450;pb.Kaff=4517;pb.MaxInt=1000;
         %pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=3500;pb.MaxInt=1000;
+      case 3 %pole placement on ss_dq (simplified motion, no current loop)
+        desc=desc+"pp ss\_q";
+        pl=[-300+100i -300-100i];
+        [Am,Bm,Cm,Dm]=ssdata(mot.ss_q);
+        K = place(Am,Bm,pl);
+        V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
+        V=V(end);
+        Kfb=K*(Cm^-1);
+        pb.V=V;
+        pb.Kfb=Kfb;
+
+        pb.Kp=V;
+        pb.B=Kfb(2)/V;
+        pb.Kvfb=Kfb(1)/pb.Ts;
+        pb.Kvff=pb.Kvfb;
+        pb.Kaff=1/(curr2acc*(pb.Ts^2));
+        pb.Ki=0.01; % lower 
+        pb.MaxInt=1000;      
+        fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb);
+      case 4 %pole placement on ss_dq (simplified motion, simplified current loop)
+        desc=desc+"pp ss\_dq";
+        %pole(mot.ss_dq)
+        pl=[-300+150i -300-150i -2513];
+        [Am,Bm,Cm,Dm]=ssdata(mot.ss_dq);
+        K = place(Am,Bm,pl);
+        V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
+        V=V(end);
+        Kfb=K*(Cm^-1);
+        pb.V=V;
+        pb.Kfb=Kfb;
+
+        pb.Kp=V;
+        pb.B=Kfb(3)/V;
+        pb.Kvfb=Kfb(2)/pb.Ts;
+        pb.Kvff=1*pb.Kvfb;
+        pb.Kafb=Kfb(1)/(curr2acc*(pb.Ts^2));
+        pb.Kaff=1*1/(curr2acc*(pb.Ts^2))+pb.Kafb;
+        pb.Ki=0.01;
+        pb.MaxInt=1000;      
+        fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb);       
     end
     %11.84Hz 0dB K=(11.84*2*np.pi)**2=5534.3 Ts=5kHz=.2ms
     %Kaff = 1/(Ts*Ts*K) = 1/((11.84*2*np.pi)**2/5000**2) = 4517.278506241803
diff --git a/matlab/DeltaTauSim.slx b/matlab/DeltaTauSim.slx
index e1436a9..d48de44 100644
Binary files a/matlab/DeltaTauSim.slx and b/matlab/DeltaTauSim.slx differ
diff --git a/matlab/identifyFxFyStage.m b/matlab/identifyFxFyStage.m
index 85e1b36..d217888 100644
--- a/matlab/identifyFxFyStage.m
+++ b/matlab/identifyFxFyStage.m
@@ -299,7 +299,6 @@ function motCell=identifyFxFyStage(mode)
     mot.ss_dq.Name='simplified mechanics, simplified current loop, no resonance';
     tfq.InputName{1}=s;%restore
     
-    
     %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);
     plotBode(mot)
@@ -413,6 +412,15 @@ function motCell=identifyFxFyStage(mode)
     mot.ss_qr.Name='simplified mechanics, no current loop, resonance';
     tfp.InputName{1}=s;%restore
     
+    %  u          +-----------+           y
+    %iqCmd------->|1         1|-------> iqMeas
+    %             |          2|-------> actVel
+    %             |          3|-------> actPos
+    %             +-----------+
+    s=tfq.InputName{1};tfq.InputName{1}='iqMeas';
+    mot.ss_dq=connect(tfd,tfq,'iqCmd',{'iqMeas','actVel','actPos'});
+    mot.ss_dq.Name='simplified mechanics, simplified current loop, no resonance';
+    tfq.InputName{1}=s;%restore
     
     plotBode(mot)
   end