diff --git a/src/PlantModel.m b/src/PlantModel.m
index b886671..e2f39ba 100644
--- a/src/PlantModel.m
+++ b/src/PlantModel.m
@@ -1,90 +1,90 @@
-% Clear Workspace
-clear all;
-close all;
-clc;
-
-% Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
-g = 9.81;
-m = 0.468;
-Ix = 4.856E-3;
-Iy = 4.856E-3;
-Iz = 8.801E-3;
-
-% State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
-% X' = Ax+Bu
-% y = Cx+Du
-
-% Inputs:
-% U1: Total Upward Force on the quad rotor along z-axis
-% U2: Pitch Torque (about x-axis)
-% U3: Roll Torque (about y-axis)
-% U4: Yaw Torque (about z-axis)
-A = [0  0  0  1  0  0  0  0  0  0  0  0;...
-     0  0  0  0  1  0  0  0  0  0  0  0;...
-     0  0  0  0  0  1  0  0  0  0  0  0;...
-     0  0  0  0  0  0  0  -g 0  0  0  0;...
-     0  0  0  0  0  0  g  0  0  0  0  0;...
-     0  0  0  0  0  0  0  0  0  0  0  0;...
-     0  0  0  0  0  0  0  0  0  1  0  0;...
-     0  0  0  0  0  0  0  0  0  0  1  0;...
-     0  0  0  0  0  0  0  0  0  0  0  1;...
-     0  0  0  0  0  0  0  0  0  0  0  0;...
-     0  0  0  0  0  0  0  0  0  0  0  0;...
-     0  0  0  0  0  0  0  0  0  0  0  0];
-
-% Note: In paper, 1/m is in wrong spot
-B = [0 0 0 0;...
-     0 0 0 0;...
-     0 0 0 0;...
-     0 0 0 0;...
-     0 0 0 0;...
-     1/m 0 0 0;...
-     0 0 0 0;...
-     0 0 0 0;...
-     0 0 0 0;...
-     0 1/Ix 0 0;...
-     0 0 1/Iy 0;...
-     0 0 0 1/Iz];
-C = [1 0 0 0 0 0 0 0 0 0 0 0;...
-     0 1 0 0 0 0 0 0 0 0 0 0;...
-     0 0 1 0 0 0 0 0 0 0 0 0;...
-     0 0 0 0 0 0 1 0 0 0 0 0;...
-     0 0 0 0 0 0 0 1 0 0 0 0;...
-     0 0 0 0 0 0 0 0 1 0 0 0];
-D = zeros(6,4);
-sys = ss(A,B,C,D);
-sysd = c2d(sys, 1/100);
-
-x0 = 0;
-y0 = 0;
-z0 = 0;
-xdot0 = 0;
-ydot0 = 0;
-zdot0 = 0;
-%phi0 = 5*(pi/180);
-phi0 = 0;
-%theta0 = 5*(pi/180);
-theta0 = 0;
-psi0 = 0;
-phidot0 = 0;
-thetadot0 = 0;
-psidot0 = 0;
-initialCondition = [x0, y0, z0, xdot0, ydot0, zdot0, phi0, theta0, psi0, phidot0, thetadot0, psidot0];
-
-x_d = 1;
-y_d = 1;
-z_d = 1;
-
-%%
-%Gains
-kpp = 0.4754; 
-kdp = 0.1; 
-
-kpt = 0.4754;
-kdt = 0.1;
-
-kpps = 0.0901;
-kdps = 0.0486;
-
-kpz = 4.0670;
-kdz = 2.9031;
+% Clear Workspace
+clear all;
+close all;
+clc;
+
+% Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
+g = 9.81;
+m = 0.468;
+Ix = 4.856E-3;
+Iy = 4.856E-3;
+Iz = 8.801E-3;
+
+% State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
+% X' = Ax+Bu
+% y = Cx+Du
+
+% Inputs:
+% U1: Total Upward Force on the quad rotor along z-axis
+% U2: Pitch Torque (about x-axis)
+% U3: Roll Torque (about y-axis)
+% U4: Yaw Torque (about z-axis)
+A = [0  0  0  1  0  0  0  0  0  0  0  0;...
+     0  0  0  0  1  0  0  0  0  0  0  0;...
+     0  0  0  0  0  1  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  -g 0  0  0  0;...
+     0  0  0  0  0  0  g  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  1  0  0;...
+     0  0  0  0  0  0  0  0  0  0  1  0;...
+     0  0  0  0  0  0  0  0  0  0  0  1;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0;...
+     0  0  0  0  0  0  0  0  0  0  0  0];
+
+% Note: In paper, 1/m is in wrong spot
+B = [0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     1/m 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 0 0 0;...
+     0 1/Ix 0 0;...
+     0 0 1/Iy 0;...
+     0 0 0 1/Iz];
+C = [1 0 0 0 0 0 0 0 0 0 0 0;...
+     0 1 0 0 0 0 0 0 0 0 0 0;...
+     0 0 1 0 0 0 0 0 0 0 0 0;...
+     0 0 0 0 0 0 1 0 0 0 0 0;...
+     0 0 0 0 0 0 0 1 0 0 0 0;...
+     0 0 0 0 0 0 0 0 1 0 0 0];
+D = zeros(6,4);
+sys = ss(A,B,C,D);
+sysd = c2d(sys, 1/100);
+
+x0 = 0;
+y0 = 0;
+z0 = 0;
+xdot0 = 0;
+ydot0 = 0;
+zdot0 = 0;
+%phi0 = 5*(pi/180);
+phi0 = 0;
+%theta0 = 5*(pi/180);
+theta0 = 0;
+psi0 = 0;
+phidot0 = 0;
+thetadot0 = 0;
+psidot0 = 0;
+initialCondition = [x0, y0, z0, xdot0, ydot0, zdot0, phi0, theta0, psi0, phidot0, thetadot0, psidot0];
+
+x_d = 1;
+y_d = 1;
+z_d = 1;
+
+%%
+%Gains
+kpp = 0.4754; 
+kdp = 0.1; 
+
+kpt = 0.4754;
+kdt = 0.1;
+
+kpps = 0.0901;
+kdps = 0.0486;
+
+kpz = 4.0670;
+kdz = 2.9031;