diff --git a/.gitignore b/.gitignore
index 92103baad1e22b301d30a7041db6f08f7b51c3b3..0cab372ccdb5f884c1048789d724b00e01e95ca5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,3 +22,4 @@
 *.out
 *.synctex.gz
 *.bak
+*.mp4
diff --git a/pend01.m b/pend01.m
index 8c8e53f871fb06a2418b4f9287e4f6621e6ffdfd..d2adc1917a04c991824173fb8c42c50544e21a49 100644
--- a/pend01.m
+++ b/pend01.m
@@ -2,7 +2,7 @@ l1 = 0.5;  % Pendulum lengths [meter]
 l2 = 0.1;
 fs = 50;   % Plotting rate [Hz]
 h = 1/fs;
-maxt = 4;  % Simulation time [sec]
+maxt = 3;  % Simulation time [sec]
 g = 9.81;  
 a1 = g/l1;
 a2 = g/l2;
@@ -112,6 +112,7 @@ phi2 = y(:,2);
 pos  = y(:,3);
 u    = y(:,4);
 
+clear F
 save results
 
 
diff --git a/plotit.m b/plotit.m
index dbc92e0db427c43c133f82c23d34e6424954d691..2ccbfb4e6f13168685263aaf7f7762acde1fc35a 100644
--- a/plotit.m
+++ b/plotit.m
@@ -25,6 +25,7 @@ load results.mat
 
 %Create the markers representing the system which will 
 %vary according to calculated positions
+figure(9)
 subplot(3,2,[1 3 5])
 
 h1 = plot(0,0,'MarkerSize',30,'Marker','.','LineWidth',2,'Color','b');
@@ -68,12 +69,12 @@ title('Position')
 
 % Animation
 for i=1:length(t)-1
+    figure(9)
     if (ishandle(h1)==1) %check figure is plotting   
         Xcoord=[pos(i),pos(i)-l1*sin(phi1(i))];
         Ycoord=[0,l1*cos(phi1(i))];
         %update markers to reflect x and y cords
         set(h1,'XData',Xcoord,'YData',Ycoord);
-        drawnow;
     end
     if (ishandle(h2)==1) %check figure is plotting   
         Xcoord=[pos(i),pos(i)-l2*sin(phi2(i))];
diff --git a/readme.txt b/readme.txt
index 1582a03ef1f4dc97e6d236ebf665d63c9cf6fb18..20dfd35ecaff21b0e12d872773324abcad33e717 100644
--- a/readme.txt
+++ b/readme.txt
@@ -4,4 +4,5 @@ with two inverted pendulums on a moving cart.
 pend01.m - LQG design for linearized system
 plotit.m   - Animation (2D, without noise)
 pendulumsoncart.mp4 - Film of resulting controller
-results.mat - simulation results
+results.mat - result file
+
diff --git a/results.mat b/results.mat
index 334b4a9af25602bc8c4f64db0727caa7c122cf28..7e40163f8752bac91691a1b4e2a5a72422691e30 100644
Binary files a/results.mat and b/results.mat differ