diff --git a/docs/workshops/control_sim.md b/docs/workshops/control_sim.md
index a1a1eb7..6747841 100644
--- a/docs/workshops/control_sim.md
+++ b/docs/workshops/control_sim.md
@@ -104,11 +104,14 @@ ros2 launch sim_wayp_plan_tools waypoint_to_target.launch.py
 ### 5. Start a control
 
 There are some options:
+
 - `single_goal_pursuit`: Pure pursuit (for vehicles / robots), a simple cross-track error method
 - `multiple_goal_pursuit`: Multiple goal pursuit for vehicles / robots an implementation of our [paper](https://hjic.mk.uni-pannon.hu/index.php/hjic/article/view/914)
 - `stanley_control`: Stanley controller, a heading error + cross-track error method
 - `follow_the_carrot`: Follow-the-carrot, the simplest controller
 
+![](https://raw.githubusercontent.com/jkk-research/wayp_plan_tools/ros2/csv/control_overview01.svg)
+
 This is a pure pursuit example:
 
 ``` r
@@ -132,6 +135,12 @@ After `ign gazebo -v 4 -r ackermann_steering.sdf` (terminal 1) and `source ~/ros
 ros2 launch sim_wayp_plan_tools all_in_once.launch.py
 ```
 
+## Evaluation
+
+The following image shows some example runs:
+
+![](https://raw.githubusercontent.com/jkk-research/sim_wayp_plan_tools/ros2/img/csv_eval01.svg)
+
 ## Troubleshoot 
 
 Kill `ign gazebo server` if stuck: