diff --git a/autogen/base_regressor_Two_bar.m b/autogen/base_regressor_Two_bar.m
index a6876f7..ad69228 100644
--- a/autogen/base_regressor_Two_bar.m
+++ b/autogen/base_regressor_Two_bar.m
@@ -3,7 +3,7 @@ function out1 = base_regressor_Two_bar(in1,in2,in3)
 %    OUT1 = base_regressor_Two_bar(IN1,IN2,IN3)
 
 %    This function was generated by the Symbolic Math Toolbox version 9.1.
-%    14-Jan-2024 21:45:43
+%    16-Feb-2024 11:59:18
 
 q2 = in1(2,:);
 qd1 = in2(1,:);
@@ -21,4 +21,6 @@ t9 = t4.^2;
 t10 = t2.*t6;
 t11 = t3.*t6;
 t12 = -t8;
-out1 = reshape([t7+t11+t2.*t5-t3.*t9,t7+t11,t10+t12-t3.*t5-t2.*t9,t10+t12,t5,t5,qdd1,0.0],[2,4]);
+t13 = t7+t11;
+t14 = t10+t12;
+out1 = reshape([t14-t3.*t5-t2.*t9,t14,t13+t2.*t5-t3.*t9,t13,t5,t5,t2.*t13+t3.*(t8-t10),0.0],[2,4]);
diff --git a/autogen/standard_regressor_Two_bar.m b/autogen/standard_regressor_Two_bar.m
index 4d619df..6f6c960 100644
--- a/autogen/standard_regressor_Two_bar.m
+++ b/autogen/standard_regressor_Two_bar.m
@@ -3,7 +3,7 @@ function out1 = standard_regressor_Two_bar(in1,in2,in3)
 %    OUT1 = standard_regressor_Two_bar(IN1,IN2,IN3)
 
 %    This function was generated by the Symbolic Math Toolbox version 9.1.
-%    14-Jan-2024 21:45:42
+%    16-Feb-2024 11:59:17
 
 q2 = in1(2,:);
 qd1 = in2(1,:);
diff --git a/estimate_dyn.m b/estimate_dyn.m
index 76ee7dc..a69d1b9 100644
--- a/estimate_dyn.m
+++ b/estimate_dyn.m
@@ -12,6 +12,7 @@ qd=[qd_J; -qd_J];
 qdd=[qdd_J; -qdd_J];
 g = [0; 0; -9.8];
 tau = zeros([2,101]);
+% pi -> [m;mc;I] 10 element 
 robot_pi1=[1;1/2;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
 robot_pi2=[2;1;0;0;1+1/4;0;0;1+1/4;0;1+1/4];
 robot_pi=[robot_pi1;robot_pi2];
@@ -76,4 +77,10 @@ robot.sol = sol;
           pib_OLS=pinv(Wb)*Tau;
           pifrctn_OLS = 0;
     end
+    function [pib_OLS, pifrctn_OLS] = MultiLeastSquareEstimation(idntfcnTrjctry, Tau, Wb)
+        % Function perfroms Multi step ordinary least squares estimation of parameters
+          
+        pib_OLS=pinv(Wb)*Tau;
+        pifrctn_OLS = 0;
+    end
 end
\ No newline at end of file