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+# Impact Tutorial
+
+## Step 0: Hello world with the furuta pendulum
+
+ * From the `workshop_impact` conda prompt, run `design0.py`
+ * If you prefer _designing_ your MPC controller in Matlab, you may do with `design0.m`, to be run from a Matlab session that was launched using teh conda prompt.
+ * You can run a simulation of the MPC controller running over 1000 samples using `simulate.py`
+ 
+ 
+## Step 1: Getting acquainted with the furuta example
diff --git a/impact_tutorial/simulate0.py b/impact_tutorial/simulate.py
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