diff --git a/wiper/Wiper_controller.slx b/wiper/Wiper_controller.slx
index 7c1b729..20e14e6 100644
Binary files a/wiper/Wiper_controller.slx and b/wiper/Wiper_controller.slx differ
diff --git a/wiper/Wiper_controller~mdl.slmx b/wiper/Wiper_controller~mdl.slmx
new file mode 100644
index 0000000..9e1ba97
Binary files /dev/null and b/wiper/Wiper_controller~mdl.slmx differ
diff --git a/wiper/requirement/requirement.slreqx b/wiper/requirement/requirement.slreqx
index 8698088..deea8e9 100644
Binary files a/wiper/requirement/requirement.slreqx and b/wiper/requirement/requirement.slreqx differ
diff --git a/wiper/requirement/requirement~slreqx.slmx b/wiper/requirement/requirement~slreqx.slmx
new file mode 100644
index 0000000..3d90c86
Binary files /dev/null and b/wiper/requirement/requirement~slreqx.slmx differ
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggd.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggd.xml
new file mode 100644
index 0000000..30f473b
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggd.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test"/>
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggp.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggp.xml
new file mode 100644
index 0000000..bb4ef11
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/0Oqs2iixhYfaiaCGqnzkYmIIjggp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="unit_tests.mldatx" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQd.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQd.xml
new file mode 100644
index 0000000..a75f7a8
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>
\ No newline at end of file
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQp.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQp.xml
new file mode 100644
index 0000000..1d46ab4
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/BbH9ifXPob_jf6gjqRWoCze5OnQp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="unit_tests~mldatx.slmx" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEd.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEd.xml
new file mode 100644
index 0000000..7a6326b
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEd.xml
@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>
\ No newline at end of file
diff --git a/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEp.xml b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEp.xml
new file mode 100644
index 0000000..9a59b43
--- /dev/null
+++ b/wiper/resources/project/B3eY1U7vHE4T6sbzXyqA0E2WLmE/lcokL6nGjDr_5D4Nz6cXdGqLOxEp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="5_1_baseline.mat" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cd.xml b/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cd.xml
new file mode 100644
index 0000000..a5ecd88
--- /dev/null
+++ b/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="requirement" Type="Relative"/>
\ No newline at end of file
diff --git a/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cp.xml b/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cp.xml
new file mode 100644
index 0000000..1831078
--- /dev/null
+++ b/wiper/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/1NNnOn3y3Tg8fH13swfQX9YES3cp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="fb8d5c8b-ba86-42b8-80a5-c6a0aabe73ab" type="Reference"/>
\ No newline at end of file
diff --git a/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQd.xml b/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQd.xml
new file mode 100644
index 0000000..a75f7a8
--- /dev/null
+++ b/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>
\ No newline at end of file
diff --git a/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQp.xml b/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQp.xml
new file mode 100644
index 0000000..30f4ad8
--- /dev/null
+++ b/wiper/resources/project/nrwQUoAYiEGtrCcW9Ix05sjMQsY/CsCFfx3hx6JDv3vWqRtnr6Kn6eQp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="requirement~slreqx.slmx" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEd.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEd.xml
new file mode 100644
index 0000000..a75f7a8
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEp.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEp.xml
new file mode 100644
index 0000000..6237d7d
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/KvEHLC5ohD2tkk3CdO_B3ByfywEp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="wiper_model~mdl.slmx" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwd.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwd.xml
new file mode 100644
index 0000000..a75f7a8
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwd.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwp.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwp.xml
new file mode 100644
index 0000000..426d0b8
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/QVMuqzcOsOhQU3XdY1nLQmPnsiwp.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Wiper_controller~mdl.slmx" type="File"/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Ud.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Ud.xml
new file mode 100644
index 0000000..a75f7a8
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Ud.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>
\ No newline at end of file
diff --git a/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Up.xml b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Up.xml
new file mode 100644
index 0000000..a03e43b
--- /dev/null
+++ b/wiper/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/RtYKM_FXJYw8hh-IKAzQNZ14n2Up.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="wiper_model_sim~mdl.slmx" type="File"/>
\ No newline at end of file
diff --git a/wiper/test_files/unit test/5_1_baseline.mat b/wiper/test_files/unit test/5_1_baseline.mat
new file mode 100644
index 0000000..80770c4
Binary files /dev/null and b/wiper/test_files/unit test/5_1_baseline.mat differ
diff --git a/wiper/test_files/unit test/unit_tests.mldatx b/wiper/test_files/unit test/unit_tests.mldatx
new file mode 100644
index 0000000..a82f217
Binary files /dev/null and b/wiper/test_files/unit test/unit_tests.mldatx differ
diff --git a/wiper/test_files/unit test/unit_tests~mldatx.slmx b/wiper/test_files/unit test/unit_tests~mldatx.slmx
new file mode 100644
index 0000000..3dfb87f
Binary files /dev/null and b/wiper/test_files/unit test/unit_tests~mldatx.slmx differ
diff --git a/wiper/wiper_model.slx b/wiper/wiper_model.slx
index faa78ab..fd5b25b 100644
Binary files a/wiper/wiper_model.slx and b/wiper/wiper_model.slx differ
diff --git a/wiper/wiper_model_sim~mdl.slmx b/wiper/wiper_model_sim~mdl.slmx
new file mode 100644
index 0000000..e083c51
Binary files /dev/null and b/wiper/wiper_model_sim~mdl.slmx differ
diff --git a/wiper/wiper_model~mdl.slmx b/wiper/wiper_model~mdl.slmx
new file mode 100644
index 0000000..47a4532
Binary files /dev/null and b/wiper/wiper_model~mdl.slmx differ