diff --git a/Files_4_thesis/Different_controllers/Marker_POSE.jpg b/Files_4_thesis/Different_controllers/Marker_POSE.jpg
index b8209a8f79bef0f88f6f3b9d5052ce475caf030f..df463332c579b5caa67a1306a5c9e5352d10c278 100644
Binary files a/Files_4_thesis/Different_controllers/Marker_POSE.jpg and b/Files_4_thesis/Different_controllers/Marker_POSE.jpg differ
diff --git a/Files_4_thesis/Different_controllers/control_sig.jpg b/Files_4_thesis/Different_controllers/control_sig.jpg
index bd1e4d1ddf370132a2d052676d387b5bb4f99080..2a6bc6647c78e203dea8abcefffce028531774f5 100644
Binary files a/Files_4_thesis/Different_controllers/control_sig.jpg and b/Files_4_thesis/Different_controllers/control_sig.jpg differ
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index f176733e2b82998a99899d659ca735d80ad0282e..e4b1aeb80c7985c951804e32bbe694bc3702f2be 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -267,13 +267,14 @@ hold on
 plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
 
 
-title('Marker X -axis');
+title('Marker Pose Along X_{mar} - Axis');
+% set(t,'interpreter','latex');
 % xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${X}$ [m]','interpreter','latex');
+ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12);
 grid on
 % axis([0 45 -.01 .2]);
 l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex');
+set(l2,'interpreter','latex','FontSize',11);
 
 subplot(3,1,2);
 plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
@@ -284,9 +285,9 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
 
-title('Marker Y -axis');
+title('Marker Pose Along Y_{mar} - Axis');
 % xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${Y}$ [m]','interpreter','latex');
+ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12);
 grid on
 % axis([0 46 -.2 .1]);
 
@@ -299,9 +300,9 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
 
-title('Marker \theta -axis');
-xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${\theta}$ [rad]','interpreter','latex');
+title('Marker Pose Along \theta_{mar} - Axis');
+xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
+ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12);
 grid on
 % axis([0 46 -.1 .15]);
 
@@ -317,13 +318,13 @@ plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
 
-title('Control Signal X -axis');
+title('Control Signal Along X_{rob} - Axis');
 % xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{X}$ [m/s]','interpreter','latex');
+ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
 grid on
 axis([0 45 -.01 .2]);
 l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex');
+set(l2,'interpreter','latex','FontSize',11);
 
 
 subplot(3,1,2);
@@ -336,9 +337,9 @@ hold on
 plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
 
 
-title('Control Signal Y -axis');
+title('Control Signal Along Y_{rob} - Axis');
 % xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{Y}$ [m/s]','interpreter','latex');
+ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
 grid on
 % axis([0 46 -.2 .1]);
 
@@ -351,9 +352,9 @@ plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
 
-title('Control Signal \theta -axis');
-xlabel('$ time [sec]$','interpreter','latex');
-ylabel('$\dot{\theta}$ [rad/s]','interpreter','latex');
+title('Control Signal Along \theta_{rob} - Axis');
+xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
+ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12);
 grid on
 % axis([0 46 -.1 .15]);
 
@@ -400,9 +401,9 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Docking Trajectroy (Whole area)');
-xlabel('${Y}$ [m]','interpreter','latex');
-ylabel('${X}$ [m]','interpreter','latex');
+title('Entire Area');
+xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
+ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
 axis([-.1 .4 .18 1.4]);
 grid on
 
@@ -417,9 +418,9 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',1.6);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Docking Trajectroy (SM zone)');
-xlabel('${Y}$ [m]','interpreter','latex');
-% ylabel('${X}$ [m]','interpreter','latex');
+title('SM zone');
+xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
+% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
 axis([-.005 0.045 .195 .32]);
 grid on
 
@@ -434,13 +435,13 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
-title('Docking Trajectroy (reference area)');
-xlabel('${Y}$ [m]','interpreter','latex');
-% ylabel('${X}$ [m]','interpreter','latex');
+title('Target');
+xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
+% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
 axis([0.0065 .0095 .1995 .2055]);
 grid on
-l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Reference Position');
-set(l,'interpreter','latex');
+l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
+set(l,'interpreter','latex','FontSize',11);
 
 
 % sampling time
@@ -463,6 +464,10 @@ xlabel('samples');
 ylabel('Sampling time');
 axis([0 480 .05 .14]);
 
+MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
+MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
+MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
+MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
 % Pose diff 
 % figure;
 % subplot(3,1,1);
diff --git a/Files_4_thesis/Different_controllers/trajectory.jpg b/Files_4_thesis/Different_controllers/trajectory.jpg
index c27b362e3194b0491ad58be6f904b2c9a9e787a1..dc9076c2ae4c570f52811d47d558ac964aceef2f 100644
Binary files a/Files_4_thesis/Different_controllers/trajectory.jpg and b/Files_4_thesis/Different_controllers/trajectory.jpg differ
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index ace2f1c8186f9d2bd66cd10b79e1e799f333b301..4763ce0efaadfee7d80a27461b346a5f06c14946 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ
diff --git a/Files_4_thesis/~WRL1497.tmp b/Files_4_thesis/~WRL1497.tmp
new file mode 100644
index 0000000000000000000000000000000000000000..40389ce0b9efd30e15ad813ca89403592b18c0f8
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