diff --git a/SOURCE/DataOutMotion.data b/SOURCE/DataOutMotion.data
index 2c40f4e..3dcd229 100644
--- a/SOURCE/DataOutMotion.data
+++ b/SOURCE/DataOutMotion.data
@@ -1 +1 @@
-# Created by Octave 5.2.0, Thu Apr 01 10:57:28 2021 WIB <a2nr@localhost.localdomain>
+# Created by Octave 5.2.0, Sat Apr 10 23:13:54 2021 WIB <a2nr@localhost.localdomain>
diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m
index f9c856e..1b42d29 100644
--- a/SOURCE/SM_2015_Rozenheck.m
+++ b/SOURCE/SM_2015_Rozenheck.m
@@ -15,17 +15,44 @@ bParam.edgeL = [1 2 1;
                        3 1 1;
                       ];
 bParam.dScale = 3;
-bParam.kp1 = 80;
-bParam.kp2 = 7;
-bParam.ki1 = 0;
-bParam.ki2 = 0;
 bParam.nNodeVref = 1;
+bParam.ki1 = 0;
+bParam.ki2 = 0;  
 
+# CASE 1
+bParam.kp1 = 50;
+bParam.kp2 = 3;
+      
+# CASE 2
+##bParam.kp1 = 80;
+##bParam.kp2 = 7;
 
+# CASE 3
+##bParam.kp1 = 100;
+##bParam.kp2 = 15;
+
+#### KOOR 1
+##corRobot = [0; 0;0;
+##            1; 2;0;
+##            -2; 3;0;
+##           ]; % xy xy xy
+#### KOOR 2
+##corRobot = [0; 0;0;
+##            -2; -4;0;
+##            3; -2;0;
+##           ]; % xy xy xy
+#### KOOR 3
 corRobot = [0; 0;0;
             1; 2;0;
             3; -3;0;
            ]; % xy xy xy
+## KOOR 4
+##corRobot = [0; 0;0;
+##            -2; -3;0;
+##            3; 2;0;
+##           ]; % xy xy xy  
+           
+
 robStateLen = size(bParam.model.origin.A,1);
 B = [
      1 0; 0 1;
@@ -64,8 +91,8 @@ printf("Mulai memecakan masalah \n\n");
 startExe = tic;
 
 % continue
-dydt = @(t, y) algo_init(sys,y,fvref(t));
-##dydt = @(t, y) sys.ss(y,fvref(t));
+##dydt = @(t, y) algo_init(sys,y,fvref(t));
+dydt = @(t, y) sys.ss(y,fvref(t));
 [t,y] = ode45(dydt, tspan, state_init);
 
 % discrate taylor methode