diff --git a/src/interface_implementations/furuta.jl b/src/interface_implementations/furuta.jl
index 29be7bf4d98b3ba734b92320b35c322c7fead37b..f3274cc07fc75237e42859ccdd73bee091c58792 100644
--- a/src/interface_implementations/furuta.jl
+++ b/src/interface_implementations/furuta.jl
@@ -88,10 +88,15 @@ control(p::FurutaSimulator, u::Number)             = p.s(u)
 measure_phi(p::Furuta)                         = read(p.measure_phi)
 phi(p::Furuta)                                      = measure_phi(p)*2.56
 measure_phi_dot(p::Furuta)                         = read(p.measure_phi_dot)
+phi_dot(p::Furuta)                                      = (measure_phi_dot(p) + 0.0708)*2.0
 measure_theta(p::Furuta)                         = read(p.measure_theta)
+theta(p::Furuta)                                      = (measure_theta(p) + 5.1763)*0.3091
 measure_theta_dot(p::Furuta)                         = read(p.measure_theta_dot) 
+theta_dot(p::Furuta)                                      = (measure_theta_dot(p) - 0.022)*3.76
 measure_theta_precise(p::Furuta)                         = read(p.measure_theta_precise)
+theta_precise(p::Furuta)                                      = (measure_theta_precise(p) + 0.7792)*0.058
 measure_theta_dot_precise(p::Furuta)                         = read(p.measure_theta_dot_precise)
+theta_dot_precise(p::Furuta)                                      = measure_theta_dot_precise(p)*0.68
 
 measure(p::FurutaSimulator)                = p.s.sys.C*p.s.state