diff --git a/flux/nn_prior/linear_sys.jl b/flux/nn_prior/linear_sys.jl
index b8fda731f813f2f64dc5ed421a689d058ef83ec8..367a3a97c75155ce0451a992984043ef9cd061fa 100644
--- a/flux/nn_prior/linear_sys.jl
+++ b/flux/nn_prior/linear_sys.jl
@@ -2,36 +2,27 @@
 
 import Parameters
 
-struct LinearSys <: AbstractSystem
+@with_kw struct LinearSys <: AbstractSystem
     A
     B
-    N
-    n
-    ns
-    h
-    σ0
-    sind
-    uind
-    s1ind
+    N = 1000
+    n = 10
+    ns = n
+    h = 0.02
+    σ0 = 0
+    sind = 1:ns
+    uind = ns+1:(ns+n)
+    s1ind = (ns+n+1):(ns+n+ns)
 end
 
-function LinearSys(seed;
-    N     = 1000,
-    n     = 10,
-    ns    = n,
-    h     = 0.02,
-    σ0    = 0,
-    sind  = 1:ns,
-    uind  = ns+1:(ns+n),
-    s1ind = (ns+n+1):(ns+n+ns))
-
+function LinearSys(seed; kwargs...)
     srand(seed)
     A = randn(n,n)
     A = A-A'        # skew-symmetric = pure imaginary eigenvalues
     A = A - h*I     # Make 'slightly' stable
     A = expm(h*A)   # discrete time
     B = h*randn(n,n)
-    LinearSys(A,B,N, n, ns, h, σ0, sind, uind, s1ind)
+    LinearSys(A=A, B=B, kwargs...)
 end
 
 function generate_data(sys::LinearSys, systype, seed, validation=false)
diff --git a/gridworld.jl b/gridworld.jl
index d4344259b36900c41f5225483c59f3ca41b808ea..243e1c4c159112db0bf1b5a9d177370d3e29a03b 100644
--- a/gridworld.jl
+++ b/gridworld.jl
@@ -1,12 +1,13 @@
 using Plots
-function gridworld()
-    grid_size = (10,10)
-    iters = 10
-    A = [1,2,3,4]
-    running_cost = 0.1
-    grid = zeros(grid_size)
-    Q = 0*ones(length(A),grid_size...)
-    goal = (5,5)
+function gridworld(;
+    grid_size     = (10,10),
+    iters         = 100,
+    A             = [1,2,3,4],
+    running_cost  = 0.1,
+    grid          = zeros(grid_size),
+    Q             = 0*ones(length(A),grid_size...),
+    goal          = (5,5))
+    
     grid[goal...] = 5
 
     function transition(x,y,a)
@@ -28,7 +29,7 @@ function gridworld()
         for y = 1:grid_size[2]
             for x = 1:grid_size[1]
                 if (x,y) == goal
-                    Q[:,x,y] = grid[goal...]
+                    Q[:,x,y] .= grid[goal...]
                     continue
                 end
                 for a = A
@@ -38,17 +39,17 @@ function gridworld()
                 end
             end
         end
-        heatmap(squeeze(maximum(Q,1),1)); gui()
+        heatmap(dropdims(maximum(Q,dims=1),dims=1)); gui()
         # println(i)
         # sleep(0.01)
     end
     println("done")
     Q
 end
-@time Q = gridworld()
+@time Q = gridworld();
 
-for y = 1:grid_size[2]
-    for x = 1:grid_size[1]
+for y = 1:10#grid_size[2]
+    for x = 1:10#grid_size[1]
         a = indmax(Q[:,x,y])
         sym = a == 1 ? :utriangle : a == 2 ? :rtriangle : a == 3 ? :dtriangle : :ltriangle
         scatter!([x],[y],m=(sym,5), lab="", legend=false)
diff --git a/jump_lin_id/figs/force.tex b/jump_lin_id/figs/force.tex
deleted file mode 100644
index 97a93acbcc692f174795a52bf0a80d4e6b0a3466..0000000000000000000000000000000000000000
--- a/jump_lin_id/figs/force.tex
+++ /dev/null
@@ -1,2298 +0,0 @@
-% This file was created by matplotlib2tikz v0.6.2.
-\begin{tikzpicture}
-
-\definecolor{color1}{rgb}{0.88887350027252,0.43564919034819,0.278122936141944}
-\definecolor{color0}{rgb}{0,0.605603161175225,0.978680117569607}
-\definecolor{color3}{rgb}{0.764440175493436,0.444111779468777,0.824297535923276}
-\definecolor{color2}{rgb}{0.242224297852199,0.64327509315763,0.304448651534115}
-\definecolor{color5}{rgb}{4.82118162326017e-07,0.665758981292356,0.680996951870795}
-\definecolor{color4}{rgb}{0.675543957211406,0.555662332204581,0.094234336266395}
-
-\begin{axis}[
-title={Force/torque},
-xmin=1, xmax=372,
-ymin=-2.51993302006692, ymax=4.60906136269548,
-axis on top,
-width=\figurewidth,
-height=\figureheight
-]
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diff --git a/jump_lin_id/figs/states.tex b/jump_lin_id/figs/states.tex
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index 321399634adcf4c16b92b90fae383daf454833e8..0000000000000000000000000000000000000000
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diff --git a/jump_lin_id/pres/figs/robot_draw.jpg b/jump_lin_id/pres/figs/robot_draw.jpg
new file mode 100644
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diff --git a/jump_lin_id/pres/figs/robot_draw.pdf b/jump_lin_id/pres/figs/robot_draw.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd57738a7befb35606711c00b46271b9388e4793
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diff --git a/jump_lin_id/pres/pres_idpaper.pdf b/jump_lin_id/pres/pres_idpaper.pdf
index 164ca83d0f5e568dbceacf3acc12fba83f84ca9c..619843dad4fc1e05f09db6bc96df78cfd47fb21e 100644
Binary files a/jump_lin_id/pres/pres_idpaper.pdf and b/jump_lin_id/pres/pres_idpaper.pdf differ
diff --git a/jump_lin_id/pres/pres_idpaper.tex b/jump_lin_id/pres/pres_idpaper.tex
index dfae9ee9ca70fae5488d6d52b05de5ba4826bbd8..aadd70136c817d43930c8d6924299c661b3fc309 100644
--- a/jump_lin_id/pres/pres_idpaper.tex
+++ b/jump_lin_id/pres/pres_idpaper.tex
@@ -118,6 +118,44 @@ label=center:{{$\sum$}}, minimum width=2em}}
 \end{frame}
 
 
+%====================================================================
+%====================================================================
+\begin{frame}{Outline}{}
+    \begin{itemize}
+        \item Introduce a number of LTV identification methods
+        \item Use of methods for reinforcement learning
+    \end{itemize}
+\end{frame}
+
+
+%====================================================================
+%====================================================================
+\begin{frame}{Motivating example}{}
+    \begin{block}{LQR}
+        \begin{itemize}
+            \item Control signal trajectory
+            \item Feedback gain
+            \item Dynamic programming
+            \item Linear systems
+            \item Quadratic cost
+        \end{itemize}
+    \end{block}
+    \pause
+
+    \begin{block}{Iterative LQR}
+        \begin{itemize}
+            \item Linearize system
+            \item Differential Dynamic programming\footfullcite{levine2013guided}
+            \item Nonlinear systems
+            \item Stepsize or constraint
+        \end{itemize}
+
+    \end{block}
+
+\end{frame}
+
+
+
 %====================================================================
 %====================================================================
 \begin{frame}{Outline}{}
@@ -150,32 +188,32 @@ label=center:{{$\sum$}}, minimum width=2em}}
 
 
 
-\begin{frame}{LTI identification}{}
-    Linear in the parameters, can be written $\y = \A\w$
-    \begin{align*}
-        \y &=
-        \begin{bmatrix}
-            {x_1} \\ \vdots \\ {x_T}
-        \end{bmatrix}
-        & &\inspace{Tn} \\
-        \w &= \vec{\bmatrixx{A\T & B\T}} & &\inspace{K}\\[0.2em]
-        \A &=
-        \begin{bmatrix}
-            I_n \otimes x_0\T & I_n \otimes u_0\T \\
-            \vdots & \vdots\\
-            I_n \otimes x_{T-1}\T & I_n \otimes u_{T-1}\T
-        \end{bmatrix}
-        & &\in \mathbb{R}^{Tn\times K}
-    \end{align*}
-    \pause
-
-    Closed form solution
-    \begin{align}
-        \w^* &= \argmin_{\w} \normt{\y - \A \w}^2 \label{eq:lscost}\\
-        ~ &= \PI \y \label{eq:ls}
-    \end{align}
-
-\end{frame}
+% \begin{frame}{LTI identification}{}
+%     Linear in the parameters, can be written $\y = \A\w$
+%     \begin{align*}
+%         \y &=
+%         \begin{bmatrix}
+%             {x_1} \\ \vdots \\ {x_T}
+%         \end{bmatrix}
+%         & &\inspace{Tn} \\
+%         \w &= \vec{\bmatrixx{A\T & B\T}} & &\inspace{K}\\[0.2em]
+%         \A &=
+%         \begin{bmatrix}
+%             I_n \otimes x_0\T & I_n \otimes u_0\T \\
+%             \vdots & \vdots\\
+%             I_n \otimes x_{T-1}\T & I_n \otimes u_{T-1}\T
+%         \end{bmatrix}
+%         & &\in \mathbb{R}^{Tn\times K}
+%     \end{align*}
+%     \pause
+%
+%     Closed form solution
+%     \begin{align}
+%         \w^* &= \argmin_{\w} \normt{\y - \A \w}^2 \label{eq:lscost}\\
+%         ~ &= \PI \y \label{eq:ls}
+%     \end{align}
+%
+% \end{frame}
 
 
 
@@ -195,17 +233,17 @@ label=center:{{$\sum$}}, minimum width=2em}}
     \end{block}
     \pause
 
-    Parameters $\w$ are assumed to evolve according to the dynamical system
-    \begin{equation}
-        \label{eq:dynsys}
-        \begin{split}
-            k_{t+1} &= H_t k_t + w_t\\
-            y_t &= \big(I_n \otimes \bmatrixx{x_t\T & u_t\T}\big) \w_t
-        \end{split}
-    \end{equation}
-    \pause
-
-    Free to choose $H$, e.g., $H = I$
+    % Parameters $\w$ are assumed to evolve according to the dynamical system
+    % \begin{equation}
+    %     \label{eq:dynsys}
+    %     \begin{split}
+    %         k_{t+1} &= H_t k_t + w_t\\
+    %         y_t &= \big(I_n \otimes \bmatrixx{x_t\T & u_t\T}\big) \w_t
+    %     \end{split}
+    % \end{equation}
+    % \pause
+    %
+    % Free to choose $H$, e.g., $H = I$
 \end{frame}
 
 
@@ -233,14 +271,16 @@ label=center:{{$\sum$}}, minimum width=2em}}
 %====================================================================
 %====================================================================
 \begin{frame}{Trend filtering}
-    Class of identification methods for signal reconstruction, \emph{trend filtering}~\footfullcite{kim2009ell_1, tibshirani2014adaptive}.
+    Class of identification methods for signal reconstruction~\footfullcite{kim2009ell_1, tibshirani2014adaptive}.
     \pause
 
-    As a simple example, consider the reconstruction $\hat y$ of a noisy signal $y = \{y_t\inspace{}\}_{t=1}^T$ with piecewise constant segments.
-    \begin{equation*} \label{eq:tf}
-        \minimize{\hat{y}} \normt{y-\hat{y}}^2 + \lambda\sum_t |\hat{y}_{t+1} - \hat{y}_t|
-    \end{equation*}
-    \pause
+    \begin{block}{Example}
+        Reconstruction $\hat y$ of a noisy signal $y = \{y_t\inspace{}\}_{t=1}^T$ with piecewise constant segments.
+        \begin{equation*} \label{eq:tf}
+            \minimize{\hat{y}} \normt{y-\hat{y}}^2 + \lambda\sum_t |\hat{y}_{t+1} - \hat{y}_t|
+        \end{equation*}
+    \end{block}
+
     \begin{itemize}
         \item Fitness function
         \item (Sparsity promoting) Regularization
@@ -253,33 +293,35 @@ label=center:{{$\sum$}}, minimum width=2em}}
 %====================================================================
 \begin{frame}{Norms for Regularization}{}
     \begin{description}
-        \item[$\norm{k}_1$ 1-norm] \emph{Sparsity-promoting} penalty.\\ A solution with a small number of non-zero entries in $k$ is favored.\vspace{2mm}
-        \item[$\norm{k}_2$ 2-norm] Penalizes large entries in $k$. \\Does not care about small, non-zero entries.
+        \item[$\norm{k}_1$] \emph{Sparsity-promoting} penalty.\\ A solution with a small number of non-zero entries in $k$ is favored.\vspace{2mm}
+        \item[$\sum_t\norm{k_t}_2^2$] Penalizes large entries in $k_t$. \\Does not care about small, non-zero entries.
+        \item[$\sum_t\norm{k_t}_2$] Penalizes non-zero $k_t$. \\ Grouped lasso.
     \end{description}
 
 \end{frame}
 
 
 
+
+
+
 %====================================================================
 %====================================================================
-\begin{frame}{Identification methods}{}
+\begin{frame}{Low-frequency time evolution}
+    System with slowly varying dynamics
     \begin{itemize}
-        \item Introduce a number of optimization problems
-        \item The difference lies in the regularization term
-        \item The regularization term can be given statistical interpretation
+        \item Temperature change
+        \item Smooth nonlinearities
+        \item Implicit assumption: parameters $k$ evolve as Brownian motion %($H = I$)
     \end{itemize}
+    \centering
+    \includegraphics[width=0.5\linewidth]{figs/kalman-0.png}
 \end{frame}
 
-
-%====================================================================
-%====================================================================
 \begin{frame}{Low-frequency time evolution}
     A slowly varying signal is characterized by \emph{small first-order time differences}.
     \pause
 
-    Assume parameters $k$ evolve according to Brownian motion ($H = I$)
-
     \begin{equation} \label{eq:slow}
         \minimize{\w} \normt{\y-\hat{\y}}^2 + \lambda^2\sum_t \normt{\w_{t+1} - \w_{t}}^2
     \end{equation}
@@ -292,7 +334,19 @@ label=center:{{$\sum$}}, minimum width=2em}}
     \end{align}
     \pause
 
-    Parameters found efficiently by Dynamic programming!
+    \begin{itemize}
+        \item Parameters found efficiently by Dynamic programming!
+        \item Generalization in paper.
+    \end{itemize}
+\end{frame}
+
+
+\begin{frame}{Low-frequency time evolution}
+    \centering
+    \only<1>{\includegraphics[width=0.8\linewidth]{figs/kalman-1.png}}
+    \only<2>{\includegraphics[width=0.8\linewidth]{figs/kalman-4.png}}
+    \only<3>{\includegraphics[width=0.8\linewidth]{figs/kalman-7.png}}
+    \only<4>{\includegraphics[width=0.8\linewidth]{figs/kalman-9.png}}
 \end{frame}
 
 
@@ -300,25 +354,35 @@ label=center:{{$\sum$}}, minimum width=2em}}
 
 %====================================================================
 %====================================================================
-\begin{frame}{Smooth time evolution}
-    A smoothly varying signal is characterized by \emph{small second-order time differences}.
-    \pause
+% \begin{frame}{Smooth time evolution}
+%     A smoothly varying signal is characterized by \emph{small second-order time differences}.
+%     \pause
+%
+%     Parameters $k$ are integrated twice (inertia)
+%     \begin{equation} \label{eq:smooth}
+%         \minimize{\w} \normt{\y-\hat{\y}}^2 + \lambda^2\sum_t \normt{\w_{t+2} -2 \w_{t+1} + \w_t}^2
+%     \end{equation}
+%     \pause
+%
+%     \begin{itemize}
+%         \item Closed-form solution and solution (intractable)
+%         \item Dynamic programming solution (efficient)
+%     \end{itemize}
+% \end{frame}
 
-    Parameters $k$ are integrated twice (inertia)
-    \begin{equation} \label{eq:smooth}
-        \minimize{\w} \normt{\y-\hat{\y}}^2 + \lambda^2\sum_t \normt{\w_{t+2} -2 \w_{t+1} + \w_t}^2
-    \end{equation}
-    \pause
 
+%====================================================================
+%====================================================================
+\begin{frame}{Piecewise constant time evolution}
+    Piecewise constant dynamics
     \begin{itemize}
-        \item Closed-form solution and solution (intractable)
-        \item Dynamic programming solution (efficient)
+        \item Abrupt failure
+        \item Change of operation mode
+        \item Non-holonomic constraints
+        \item Number of change points known / unknown
     \end{itemize}
 \end{frame}
 
-
-%====================================================================
-%====================================================================
 \begin{frame}{Piecewise constant time evolution}\label{sec:pwconstant}
     A signal which is mostly flat, with a small number of distinct level changes, is characterized by a \emph{sparse first-order time difference}.
     \pause
@@ -331,8 +395,6 @@ label=center:{{$\sum$}}, minimum width=2em}}
 
     We can give \labelcref{eq:pwconstant} an interpretation as a \emph{grouped-lasso} cost function.
 
-    Penalty on the 1-norm on the \emph{length} of the difference vectors $\w_{t+1} - \w_t$ since $\norm{\normt{\cdot}}_1 = \normt{\cdot}$.
-    \pause
 
 \end{frame}
 
@@ -351,38 +413,13 @@ label=center:{{$\sum$}}, minimum width=2em}}
 %====================================================================
 %====================================================================
 \begin{frame}{Piecewise constant time evolution -- Implementation}
-    Due to the non-squared norm penalty $$\sum_t \normt{ \w_{t+1} - \w_t}$$ problem \labelcref{eq:pwconstant} is significantly harder to solve than \labelcref{eq:smooth}.
+    Due to the non-squared norm penalty $$\sum_t \normt{ \w_{t+1} - \w_t}$$ problem \labelcref{eq:pwconstant} is significantly harder to solve than \labelcref{eq:slow}.
 
     An efficient implementation using the linearized ADMM algorithm \footfullcite{parikh2014proximal} is made available in the accompanying repository.
 
     \url{https://github.com/baggepinnen/LTVModels.jl}
 \end{frame}
 
-
-
-%====================================================================
-%====================================================================
-\begin{frame}{Summary}
-    \begin{table}[]
-        \centering
-        \caption{Summary of optimization problem formulations. \hspace{\textwidth} $D_n$ refers to parameter vector time-differentiation of order $n$.}
-        \label{tab:opts}
-        \begin{tabular}{@{}lll@{}}
-            \toprule
-            Norm & $D_n$ & Result    \\ \midrule
-            1    & 1         & Small number of steps (piecewise constant)     \\
-            1    & 2         & Small number of bends (piecewise affine)    \\
-            2    & 1         & Small steps (slowly varying) \\
-            2    & 2         & Small bends (smooth)  \\ \bottomrule
-        \end{tabular}
-    \end{table}
-
-\end{frame}
-
-
-
-
-
 %====================================================================
 %====================================================================
 \begin{frame}{Example -- Jump-linear system}
@@ -439,6 +476,80 @@ label=center:{{$\sum$}}, minimum width=2em}}
 
 
 
+
+% %====================================================================
+% %====================================================================
+% \begin{frame}{Summary}
+%     \begin{table}[]
+%         \centering
+%         \caption{Summary of optimization problem formulations. \hspace{\textwidth} $D_n$ refers to parameter vector time-differentiation of order $n$.}
+%         \label{tab:opts}
+%         \begin{tabular}{@{}lll@{}}
+%             \toprule
+%             Norm & $D_n$ & Result    \\ \midrule
+%             1    & 1         & Small number of steps (piecewise constant)     \\
+%             1    & 2         & Small number of bends (piecewise affine)    \\
+%             2    & 1         & Small steps (slowly varying) \\
+%             2    & 2         & Small bends (smooth)  \\ \bottomrule
+%         \end{tabular}
+%     \end{table}
+%
+% \end{frame}
+
+
+
+%====================================================================
+%====================================================================
+\begin{frame}{Example -- Reinforcement learning} \label{sec:rl}
+    \begin{itemize}
+        \item Identify LTV models for reinforcement learning
+        \item Dampen oscillations of a pendulum on a cart
+        \item Quadratic cost on states and control
+        \begin{enumerate}
+            \item Fit model along trajectory
+            \item Optimize the cost function under
+            model using iterative LQG (DDP)\footnote{Implementation made available at
+            \href{github.com/baggepinnen/DifferentialDynamicProgramming.jl}{github.com/baggepinnen/DifferentialDynamicProgramming.jl}}
+            \item Bounds on the deviation between optimized trajectory and previous trajectory.
+        \end{enumerate}
+    \end{itemize}
+    \centering
+    \vspace{-5mm}\hspace{5cm}\includegraphics[width=0.3\linewidth]{figs/pendcart_draw.jpg}
+\end{frame}
+%====================================================================
+%====================================================================
+\begin{frame}{Example -- Reinforcement learning}{}
+    \footnotetext{$\normt{\w_{t+1} - \w_t}^2$}
+    \small
+    \begin{columns}
+        \begin{column}{0.5\textwidth}
+            We compare three different models
+            \begin{itemize}
+                \item The ground truth system model
+                \item LTV model \labelcref{eq:slow}\footnotemark
+                \item LTI model
+            \end{itemize}
+        \end{column}
+        \pause
+        \begin{column}{0.6\textwidth}
+            \begin{figure}[htp]
+                \centering
+                \setlength{\figurewidth}{0.99\linewidth}
+                \setlength{\figureheight }{5cm}
+                \pgfplotsset{every axis/.append style={
+                legend style={draw=black!20!white, yshift=1mm},
+                title style={yshift=1.3mm},
+                }}
+                \input{../figs/ilc.tex}
+            \end{figure}
+        \end{column}
+    \end{columns}
+
+\end{frame}
+
+
+
+
 %====================================================================
 %====================================================================
 \begin{frame}{Example -- Robot arm}
@@ -506,57 +617,6 @@ label=center:{{$\sum$}}, minimum width=2em}}
 \end{frame}
 
 
-
-%====================================================================
-%====================================================================
-\begin{frame}{Example -- Reinforcement learning} \label{sec:rl}
-    \begin{itemize}
-        \item Identify LTV models for reinforcement learning
-        \item Dampen oscillations of a pendulum on a cart
-        \item Quadratic cost on states and control
-        \begin{enumerate}
-            \item Fit model along trajectory
-            \item Optimize the cost function under
-            model using iterative LQG (DDP)\footnote{Implementation made available at
-            \href{github.com/baggepinnen/DifferentialDynamicProgramming.jl}{github.com/baggepinnen/DifferentialDynamicProgramming.jl}}
-            \item Bounds on the deviation between optimized trajectory and previous trajectory.
-        \end{enumerate}
-    \end{itemize}
-    \centering
-    \vspace{-5mm}\hspace{5cm}\includegraphics[width=0.3\linewidth]{figs/pendcart_draw.jpg}
-\end{frame}
-%====================================================================
-%====================================================================
-\begin{frame}{Example -- Reinforcement learning}{}
-    \footnotetext{$\normt{\w_{t+1} - \w_t}^2$}
-    \small
-    \begin{columns}
-        \begin{column}{0.5\textwidth}
-            We compare three different models
-            \begin{itemize}
-                \item The ground truth system model
-                \item LTV model \labelcref{eq:slow}\footnotemark
-                \item LTI model
-            \end{itemize}
-        \end{column}
-        \pause
-        \begin{column}{0.6\textwidth}
-            \begin{figure}[htp]
-                \centering
-                \setlength{\figurewidth}{0.99\linewidth}
-                \setlength{\figureheight }{5cm}
-                \pgfplotsset{every axis/.append style={
-                legend style={draw=black!20!white, yshift=1mm},
-                title style={yshift=1.3mm},
-                }}
-                \input{../figs/ilc.tex}
-            \end{figure}
-        \end{column}
-    \end{columns}
-
-\end{frame}
-
-
 %====================================================================
 %====================================================================
 \begin{frame}{Discussion}{}
@@ -574,8 +634,8 @@ label=center:{{$\sum$}}, minimum width=2em}}
 \begin{frame}{Discussion -- Reinforcement learning}{}
     \begin{itemize}
         \item In ILC and trajectory centric reinforcement learning, a first-order approximation to the dynamics is used for efficient optimization
-        \item Validity of the approximation ensured by constraints between two consecutive trajectories.
-        \item[\nice{+}] Proposed identification methods attractive in applications such as guided policy search (GPS)~\footfullcite{levine2013guided, levine2015learning} and non-linear ILC (ILC)~\footfullcite{bristow2006survey}. \\
+        \item Validity of approximation ensured by constraints between two consecutive trajectories.
+        \item[\nice{+}] Useful in applications such as guided policy search (GPS)~\footfullcite{levine2013guided, levine2015learning} and non-linear ILC (ILC)~\footfullcite{bristow2006survey}. \\
         Can lead to dramatically decreased sample complexity.
     \end{itemize}
 \end{frame}
@@ -600,6 +660,7 @@ label=center:{{$\sum$}}, minimum width=2em}}
     \begin{itemize}
         \item Analysis of identifyability
         \item Kalman smoother for efficient identification
+        \item More identification methods
     \end{itemize}
 \end{frame}