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diff --git a/DOC/_[2015][Rozenheck][A PI Controler Distance-based Formation Tracking].pdf b/DOC/_[2015][Rozenheck][A PI Controler Distance-based Formation Tracking].pdf
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diff --git a/SOURCE/IMG/fig2.png b/SOURCE/IMG/fig2.png
new file mode 100644
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diff --git a/SOURCE/RP_2015_Rozenheck.tex b/SOURCE/RP_2015_Rozenheck.tex
index 79aaf1e..88c96d0 100644
--- a/SOURCE/RP_2015_Rozenheck.tex
+++ b/SOURCE/RP_2015_Rozenheck.tex
@@ -29,7 +29,7 @@
 %	ASSIGNMENT INFORMATION
 %----------------------------------------------------------------------------------------
 
-\title{Controlling a Triangular Formation of Mobile Agent} % Title of the assignment
+\title{Kendali Proposional-Integral Pada Pelacakan Formasi Berdasarkan Jarak} % Title of the assignment
 
 \author{Anggoro Dwi Nur Rohman\\ \texttt{anggoro\_dwi@student.ub.ac.id}} % Author name and email address
 
@@ -38,42 +38,120 @@
 %----------------------------------------------------------------------------------------
 
 \begin{document}
-
 \maketitle % Print the title
-
 \section*{Pendahuluan}
-Akan dirangkum dari penelitian 
+Rangkuman ini ditujukan untuk memahami dan review jurnal. Judul dalam bahasa inggris
+\textit{A Proportional-Integral Controller for Distance-Based Formation Tacking} yang
+diteliti oleh Oshri Rozenheck dari Israel Institute of Technology, Haifa, Israel.
+Peneliti menerangkan pada jurnal ini tentang permasalahan kendali formasi pada
+multi-agent apabila pada salah satu agent nya diberikan kecepatan tambahan sebagai
+refrensi.
 
-\section{Formasi Segitiga}
+%% \begin{table}
+\section{Notasi-Notasi}
+  %% \caption{Notasi-notasi}
+  \begin{tabular}{| l | l |}
+    \hline
+    Notasi & Keterangan \\ \hline
+    $n \triangleq |V|$ & ... \\ \hline
 
-Robot ditandai dengan 1,2,3. Apabila robot 1 mengikuti robot 2 maka dinotasikan dengan $[1] = 2$. jarak antara $i$ dan $[i]$ dinotasikan $d_i$.
+    $m \triangleq |\varepsilon| $ & .. \\ \hline
 
-Koordinat vector dari agent $i$ dinotasikan dengan $x_i$ terhadap global koordinat yang fiks, dan $y_{ij}$ adalah posisi robot $j$ terhadap sistem koordinat dari $i$ yang telah tentukan. Apabila $R_i$ dan $\tau_i$ adalah matriks rotasi dan vector translasi maka $y_{ij} = R_ix_j + \tau_i, j \in \{1,2,3\}$. Penelitian ini menggunakan kinematik yang sedarhana
-\begin{eqnarray*}
-  \dot{y}_{ii} &=& u_i \quad i \in \{1,2,3\} \\
-  \dot{x}_{i} &=& R_i^{-1} u_i
-\end{eqnarray*}
+    $A_1, \dots, A_n \in \mathbb{R}^{p\times q}$ & ... \\ \hline
 
-\section*{Referensi}
-%% \printbibliography
+    $x = \begin{bmatrix} x_1^T \\ \dots\\ x_n^T \end{bmatrix} \in \mathbb{R}^{2n}$ &
+    Konfigurasi titik \\
+    $x_i \in \mathbb{R}^n$ &  \\
+    $ x_i \neq x_j ; \forall i \neq j$ & \\ \hline
 
-%% \begin{refsection}
-%% @INPROCEEDINGS{Cao2007,
-%% author={M. {Cao} and A. S. {Morse} and C. {Yu} and B. D. O. {Anderson} and S. {Dasguvta}},
-%% booktitle={2007 46th IEEE Conference on Decision and Control},
-%% title={Controlling a triangular formation of mobile autonomous agents},
-%% year={2007},
-%% volume={},
-%% number={},
-%% pages={3603-3608},
-%% abstract={This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively- oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t rarr infin. These findings complement and extend earlier findings cited below.},
-%% keywords={distributed control;mobile robots;multi-robot systems;spatial variables control;triangular formation;mobile autonomous agents;collinear formations;distributed control law;Autonomous agents;USA Councils;Distributed control;H infinity control;Differential equations;Information technology;Art;Australia Council},
-%% doi={10.1109/CDC.2007.4434757},
-%% ISSN={0191-2216},
-%% month={Dec},}
-%% \end{refsection} 
+    $e_k \triangleq x_j - x_i$ & Relative position vector \\ \hline
 
+    $e = \begin{bmatrix} e_1^T \\ \vdots \\ e_m^T \end{bmatrix} \in \mathbb{R}^{2m}$ & Edge Vector \\
 
+    $E \in R^{n\times m}$ & Incidence matrix dimana isinya adalah $\{0, \pm 1\}$ \\
+     & barisnya menandakan vertices dan kolom nya menandakan edge \\ \hline
+    \hline
+  \end{tabular}
+%% \end{table}
 
+\section{ Edge Function}
+Diketahui framework $G(x)$ dengan vector edge ${e}_{k=1}^m$,
+$F : \mathbb{R}^{2n} \times G \rightarrow \mathbb{R}^m$, maka dapat didefinisi
+\begin{equation}
+  F(x,G) \triangleq = \begin{bmatrix}|e_1||^2 \\ \vdots \\ ||e_m||^2 \end{bmatrix}
+\end{equation}
+Peneliti mendefinisi \textit{rigidity matrix R(x)} sebagai fungsi jacobian dari
+Edge function,
+\begin{equation*}
+  R(x) = \frac{\partial F(x,G)}{\partial x} \in \mathbb{R}^{m \times 2n} 
+\end{equation*}
+dan menyingkat perhitungannya dan menghasilkan persamaan
+\begin{equation}
+  R(x) = diag(e_i^T)(E^T \otimes I_2)
+\end{equation}
+
+\section{Kendali}
+
+Error jarak dinotasikan dengan $\delta \in \mathbb{R}^m$ dimana
+\begin{equation}
+  \delta_k = || e_k ||^2 - d_k^2,  k \in \{1, \dots, m\}
+\end{equation}
+
+Peneliti menggunakan fungsi potensial
+\begin{equation}
+  \Phi(e) = \frac{1}{2} \sum_{k-1}^{m} \Big( || e_k ||^2 - d_k^2 \Big)^2 =
+  \frac{1}{2} \sum_{k=1}^{m} \delta_k^2
+\end{equation}
+digunakan untuk kendali pada setiap robot dengan cara negative gradient
+dari fungsi potensial.
+\begin{equation}
+  u_i(t) = - \Big(\frac{\partial \Phi(e)}{\partial x_i} \Big) =
+  - \sum_{j ~ o} \Big( || e_k ||^2 - d_k^2 \Big) e_k
+\end{equation}
+Apabila ditulis ulang dalam bentuk state-space
+\begin{equation}
+  \dot{x}(t) = - R(x)^T R(x) x(t) + R(x)^Td
+\end{equation}
+
+\begin{figure}
+  \centering
+  \includegraphics[scale=.7]{./IMG/fig2.png}
+  \caption{Skema General}
+  \label{f1}
+\end{figure}
+
+Menggunakan skema seperti pada gambar.\ref{f1} maka dapat diperoleh
+\begin{eqnarray}
+  \dot{x} &=& u(t) + B.v_{ref} \\
+  u(t) &=& -R(x)^T.C.\Big(R(x).x(t) - d \Big) \label{controller}
+\end{eqnarray}
+dan cikal bakal $C$ sebagai controller.
+
+dengan menerapkan Proportional-integrator pada persamaan \eqref{controller}
+maka diperoleh
+\begin{equation}
+  u(t) = -R(x)^T k_p ( R(x).x(T) - d ) -
+  R(x)^T.K_i \int_0^T (R(x).x(\tau) - d) d \tau
+\end{equation}
+dimana $kp_p$ dan $k_i$ adalah konstanta.
+
+Pada bagian integrator menghasilkan state baru
+\begin{equation}
+  \dot{\xi} = k_i(R(x).x(t) -d)
+\end{equation}
+lalu kombinasi persamaan tersebut diperoleh state- space close loop
+
+\begin{equation}
+  \begin{bmatrix} \dot{x}(t) \\ \dot{\xi(t)} \end{bmatrix} =
+  \begin{bmatrix} -k_p.R(x)^T.R(x) & -R(x)^T \\ k_i.R(x) & 0 \end{bmatrix}
+  \begin{bmatrix} x(t) \\ \xi(t) \end{bmatrix} +
+  \begin{bmatrix} k_p.R(x)^T \\ -k_i.I \end{bmatrix}.d +
+  \begin{bmatrix} B \\ 0 \end{bmatrix}.v_{ref}
+\end{equation}
+
+\subsection{Implementasi}
+
+Pada seksi implementasi ini akan dibahas mengenai code yang digunakan
+untuk mensimulasi persamaan yang diciptakan oleh peneliti.
 
 \end{document}
diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m
new file mode 100644
index 0000000..b7b110f
--- /dev/null
+++ b/SOURCE/SM_2015_Rozenheck.m
@@ -0,0 +1,92 @@
+clear -all
+close all
+%% conRobot = [2 1 1; 3 2 1; 3 1 1;3 4 1; 2 4 1; 5 3 1; 5 1 1;6 4 1; 6 2 1; 5 6 1];
+conRobot = [1 2 1;
+            1 4 1;
+            1 5 1;
+            1 6 1;
+            2 3 1;
+            2 4 1;
+            3 4 1;
+            4 5 1;
+            5 6 1;];
+%% conRobot = [2 1 1; 3 2 1; 3 1 1;3 4 1; 2 4 1;];
+
+%% corRobot = [0; 0; 1; 0; 2; 2; 1; 1; -1; -1; 0; -1; ]; % xy xy xy
+corRobot = [2; 2.5;
+            2.7; 2.6;
+            3; 2.3;
+            2.5; 1.5;
+            1.8; 1.5;
+            1.5; 2;
+           ]; % xy xy xy
+%% corRobot = [0; 0; 1; 0; 2; 2; 1; 1;]; % xy xy xy
+d = 3;
+%% figure(1)
+[R,K] = rigidityMatrixFnc(conRobot);
+vref = [-5; 5];
+B = [1 0;0 1; 0 0;0 0; 0 0;0 0; 0 0; 0 0; 0 0; 0 0; 0 0; 0 0;];
+kp = 2;
+ki = 3;
+
+sInit = [corRobot; zeros(size(R(corRobot,K),1),1)];
+tspan = linspace(1,30);
+dydt = @(t, y) systm_robot(t, y,d, R,K, kp, ki, B, vref);
+
+[t,y] = ode45(dydt, tspan, sInit);
+%% figure(2)
+str_tmp = "plot(";
+for i = 1:length(corRobot)-1
+  str_tmp = strcat(str_tmp,sprintf("y'(%i,:),",i));
+endfor
+str_tmp = strcat(str_tmp,sprintf("y'(%i,:));",i+1));
+eval(str_tmp);
+hold on
+str_tmp = " plot_rb = @(t) plot( [";
+for i = 1:2:length(corRobot)
+  str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
+endfor
+str_tmp = strcat( str_tmp, sprintf("], ["));
+for i = 2:2:length(corRobot)
+  str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
+endfor
+str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
+eval(str_tmp)
+
+xrb = 1:2:length(corRobot);
+yrb = 2:2:length(corRobot);
+t = 1;
+plot_rb(t);
+for i = 1:length(conRobot)
+  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
+       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
+endfor
+t = 20;
+plot_rb(t);
+for i = 1:length(conRobot)
+  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
+       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
+endfor
+
+t = 40;
+plot_rb(t);
+for i = 1:length(conRobot)
+  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
+       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
+endfor
+
+t = 80;
+plot_rb(t);
+for i = 1:length(conRobot)
+  plot([y'(xrb(conRobot(i, 1)),t), y'(xrb(conRobot(i, 2)),t)],
+       [y'(yrb(conRobot(i,1)),t), y'(yrb(conRobot(i,2)),t)], "r" )
+endfor
+
+
+%% plot_rb(20);
+%% plot_rb(40);
+%% plot_rb(60);
+%% plot_rb(80);
+%% plot_rb(100);
+
+
diff --git a/SOURCE/example.m b/SOURCE/example.m
deleted file mode 100644
index 4ac7d34..0000000
--- a/SOURCE/example.m
+++ /dev/null
@@ -1,18 +0,0 @@
-clear -all
-conRobot = [2 1 1; 3 2 1; 3 1 1;3 4 1; 2 4 1];
-corRobot = [0; 0; 1; 0; 2; 2; 1; 1; ]; % xy xy xy
-d = 3;
-figure(1)
-[R,K] = rigidityMatrixFnc(conRobot);
-vref = 5;
-B = [1;1; 0;0; 0;0; 0; 0;];
-kp = 2;
-ki = 10;
-
-sInit = [corRobot; 0;0;0;0;0;];
-tspan = linspace(1,10);
-dydt = @(t, y) systm_robot(t, y,d, R,K, kp, ki, B, vref);
-
-[t,y] = ode45(dydt, tspan, sInit);
-figure(2)
-plot(y'(1,:),y'(2,:),y'(3,:),y'(4,:),y'(5,:),y'(6,:),y'(7,:),y'(8,:))
diff --git a/SOURCE/octave-workspace b/SOURCE/octave-workspace
index 3b4567f..a553d0d 100644
Binary files a/SOURCE/octave-workspace and b/SOURCE/octave-workspace differ
diff --git a/SOURCE/rigidityMatrixFnc.m b/SOURCE/rigidityMatrixFnc.m
index 896a21c..faeae22 100644
--- a/SOURCE/rigidityMatrixFnc.m
+++ b/SOURCE/rigidityMatrixFnc.m
@@ -6,7 +6,7 @@ function [R,K] = rigidityMatrixFnc (edgeL)
                                 % generasi koneksi bentuk incidence
   tmp = edgeL2adj(edgeL);
   gInc = adj2inc(tmp);
-  drawCircGraph(tmp)
+  %% drawCircGraph(tmp)
   tmp = getNodes(gInc,'adjacency')
                                 % generasi vector error menggunakan matrix
                                 % koneksi
diff --git a/SOURCE/systm_robot.m b/SOURCE/systm_robot.m
index f5b348f..3d44082 100644
--- a/SOURCE/systm_robot.m
+++ b/SOURCE/systm_robot.m
@@ -5,10 +5,13 @@ function dxdt = systm_robot(t,x,d,R,K,kp,ki,B,vref)
   dxdt = zeros(l,1);
   x1 = x(1:n*2);
   x2 = x(length(x1)+1:length(x));
-  if t > 5
-    B = B * 0;
-  endif
+  %% if (t > 5) && (t < 15)
+    %% vref = [5; 10];
+  %% else
+    %% if (t > 15) && (t > 20)
+      %% vref = [5; -10];
+    %% endif
+  %% endif
   dxdt(1:length(x1)) = -((kp*R(x1,K)'*R(x1,K))*x1)-(R(x1,K)'*x2)+((kp*R(x1,K)')*(ones(size(R(x1,K)',2),1)*d))+(B*vref);
-  %% ki*R(x1,K)*x1-(ki*ones(m,1))*d;
   dxdt(length(x1)+1:length(x)) = ki*R(x1,K)*x1-(ki*ones(m,1))*d;
 endfunction