diff --git a/.obsidian/graph.json b/.obsidian/graph.json
index 12c57f275..85f51ecf1 100755
--- a/.obsidian/graph.json
+++ b/.obsidian/graph.json
@@ -1,7 +1,7 @@
 {
   "collapse-filter": false,
   "search": "",
-  "showTags": false,
+  "showTags": true,
   "showAttachments": false,
   "hideUnresolved": false,
   "showOrphans": true,
@@ -63,10 +63,10 @@
   "nodeSizeMultiplier": 1,
   "lineSizeMultiplier": 1,
   "collapse-forces": false,
-  "centerStrength": 0.518713248970312,
-  "repelStrength": 11.9791666666667,
-  "linkStrength": 1,
-  "linkDistance": 148,
-  "scale": 0.200225830078125,
-  "close": true
+  "centerStrength": 0.338541666666667,
+  "repelStrength": 6.14583333333333,
+  "linkStrength": 0.864583333333333,
+  "linkDistance": 30,
+  "scale": 0.0889892578125,
+  "close": false
 }
\ No newline at end of file
diff --git a/200 Library Papers/atsumiModifiedBodePlots2012.md b/200 Library Papers/atsumiModifiedBodePlots2012.md
index e30fcc31e..d9ad846d8 100644
--- a/200 Library Papers/atsumiModifiedBodePlots2012.md	
+++ b/200 Library Papers/atsumiModifiedBodePlots2012.md	
@@ -1,32 +1,16 @@
 ---
-readstatus: false
-dateread:
-title: "Modified Bode Plots for Robust Performance in SISO Systems With Structured and Unstructured Uncertainties"
+readstatus: true
+dateread: 
+title: Modified Bode Plots for Robust Performance in SISO Systems With Structured and Unstructured Uncertainties
 year: 2012
 authors:
-
-  
-  - "Atsumi, Takenori"
-  
-  - "Messner, William C."
-  
-
-citekey: "atsumiModifiedBodePlots2012"
-
-journal: "IEEE Transactions on Control Systems Technology"
-
-
+  - Atsumi, Takenori
+  - Messner, William C.
+citekey: atsumiModifiedBodePlots2012
+journal: IEEE Transactions on Control Systems Technology
 volume: 20
-
-
 issue: 2
-
-
-
-
-
 pages: 356-368
-
 ---
 # Indexing Information
 ## DOI
@@ -59,6 +43,12 @@ pages: 356-368
 > *The disadvantage of loop shaping is that the usual measures of robustness-gain margin and phase margin-are inadequate to account for all but the simplest uncertainties in the nominal model.*
 > 
 
-### Imported: 2024-10-16 10:59 am
+>[!question] Don't Understand
+> *Step 1) Determine the one or more frequency responses of , one gain frequency response of an upper bound of , and one gain frequency response of . They do not need to be transfer function models.*
+> 
+> >[!note] Note
+> >Kind of just make something up? I get this is definitely easier than a TF but still.
+
+### Imported: 2024-10-16 12:18 pm
 
 
diff --git a/4 Qualifying Exam/3 Notes/Robust Control.md b/4 Qualifying Exam/3 Notes/Robust Control.md
index f5b1ec3d5..bf12bef73 100644
--- a/4 Qualifying Exam/3 Notes/Robust Control.md	
+++ b/4 Qualifying Exam/3 Notes/Robust Control.md	
@@ -13,4 +13,7 @@ Not particularly a limit but something to look at: there are a ton of papers tha
 **Limitation**: Using automated design tools for robust control of SISO systems has its benefits outweighed by the labor involved in creating the weighting transfer functions [@atsumiModifiedBodePlots2012]. 
 There is some work going on that tries to deal with this @atsumiModifiedBodePlots2012 . These people have made a tool that can create transfer functions using an upper bound of $\Delta$ and $W$ 
 
-**Limitation**: Disk unstructured uncertainty cannot lend itself to creating individual examples of perturbed plants. It is not as simple as picking a plant that is within the robust control disk, because the transfer function that actually gets you there is lost in the abstraction. Or perhaps generalized.
\ No newline at end of file
+**Limitation**: Disk unstructured uncertainty cannot lend itself to creating individual examples of perturbed plants. It is not as simple as picking a plant that is within the robust control disk, because the transfer function that actually gets you there is lost in the abstraction. Or perhaps generalized.
+
+**Limitation:** Verifying the model of a controller is not sufficient to verify the implementation of one. 
+- [ ] Find sources that support this claim⏳ 2024-10-16 
\ No newline at end of file