\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/pulse.csv}\pulsecsv
  \tikzsetnextfilename{Grafs-SimMec/pulse_actforce}
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\pulsecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:pulse_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-SimMec/pulse_angle}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\pulsecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:pulse_angle}
} %subfloat
  
  
  \caption{Pulse.}
  \label{graphic:pulse}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/ramp.csv}\rampcsv
  \tikzsetnextfilename{Grafs-SimMec/ramp_actforce}
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\rampcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:ramp_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
   \tikzsetnextfilename{Grafs-SimMec/}
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\rampcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:ramp_angle}
} %subfloat
  
  
  \caption{Ramp.}
  \label{graphic:ramp}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/ramp_step.csv}\rampstepcsv
  
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\rampstepcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:ramp_step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\rampstepcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:ramp_step_angle}
} %subfloat
  
  
  \caption{Ramp step.}
  \label{graphic:ramp_step}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/sawtooth.csv}\sawtoothcsv
  
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\sawtoothcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:sawtooth_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\sawtoothcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:sawtooth_angle}
} %subfloat
  
  
  \caption{Sawtooth.}
  \label{graphic:sawtooth}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/triangle.csv}\trianglecsv
  
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\trianglecsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:triangle_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\trianglecsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:triangle_angle}
} %subfloat
  
  
  \caption{Triangle.}
  \label{graphic:triangle}
  
\end{figure}


\begin{figure}[!hb]
	\centering
  \pgfplotstableread[col sep = comma]{Graficos/step.csv}\stepcsv
  
  \subfloat[Actuation Force.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Force (N),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend 
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {1}]{\stepcsv};    
	  %\legend{Actuation Force}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:step_actforce}
  } %subfloat
   \subfloat[Angle of the pendulum.]{
      \begin{tikzpicture}
	\begin{axis}[
	  %xmin = 0, ymin = 0,
	  %ymax = 10, xmax = 10,
	  %scale only axis,
	  %width=\linewidth,
	  width=0.5\textwidth,
	  height=0.5\textwidth,
	  font=\scriptsize,
	  xmajorgrids,
	  ymajorgrids,
	  xlabel = Time (s),
	  ylabel = Angle (rad),
	  ylabel style={overlay, anchor=north,},
	  %title style={yshift=1.5ex},
	  %title={Steady state chemical potential},
	  axis on top, % descriptions over filled area
	  legend pos=north east, % customize legend
	  ]
	  \addplot[mark=none, color=blue, ultra thick] table[x index = {0}, y index = {2}]{\stepcsv};    
	 % \legend{Angle}
	\end{axis}
      \end{tikzpicture}
      \label{subfigure:step_angle}
} %subfloat
  
  
  \caption{Step.}
  \label{graphic:step}
  
\end{figure}