diff --git a/benchmarks/ACC/controller_5_20.mat b/benchmarks/ACC/controller_5_20.mat
new file mode 100644
index 0000000..5800f53
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diff --git a/benchmarks/ACC/controller_5_20.onnx b/benchmarks/ACC/controller_5_20.onnx
new file mode 100644
index 0000000..f196f5b
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diff --git a/benchmarks/ACC/dynamicsACC.m b/benchmarks/ACC/dynamicsACC.m
new file mode 100644
index 0000000..2053a1a
--- /dev/null
+++ b/benchmarks/ACC/dynamicsACC.m
@@ -0,0 +1,21 @@
+function [dx]=dynamicsACC(t,x,a_ego)
+
+mu=0.0001; % friction parameter
+
+% x1 = lead_car position
+% x2 = lead_car velocity
+% x3 = lead_car internal state
+
+% x4 = ego_car position
+% x5 = ego_car velocity
+% x6 = ego_car internal state
+
+% lead car dynamics
+a_lead = -2; 
+dx(1,1)=x(2);
+dx(2,1) = x(3);
+dx(3,1) = -2 * x(3) + 2 * a_lead - mu*x(2)^2;
+% ego car dyanmics
+dx(4,1)= x(5); 
+dx(5,1) = x(6);
+dx(6,1) = -2 * x(6) + 2 * a_ego - mu*x(5)^2;
diff --git a/benchmarks/Benchmark10-Bycicle/controller.mat b/benchmarks/Benchmark10-Bycicle/controller.mat
new file mode 100644
index 0000000..c0bd032
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diff --git a/benchmarks/Benchmark10-Bycicle/controller.onnx b/benchmarks/Benchmark10-Bycicle/controller.onnx
new file mode 100644
index 0000000..935b811
--- /dev/null
+++ b/benchmarks/Benchmark10-Bycicle/controller.onnx
@@ -0,0 +1,37 @@
+Sherlock->Onnx:Õ

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\ No newline at end of file
diff --git a/benchmarks/Benchmark10-Bycicle/dynamics10.m b/benchmarks/Benchmark10-Bycicle/dynamics10.m
new file mode 100644
index 0000000..b014c06
--- /dev/null
+++ b/benchmarks/Benchmark10-Bycicle/dynamics10.m
@@ -0,0 +1,20 @@
+function [dx] = dynamics10(t,x,u,w)
+% Ex_car_model
+  %vehicleODE Bicycle model of a vehicle with
+  % states
+  %       x(1), x(2): x,y positions
+  %       x(3): Yaw angle (\psi)
+  %       x(4): velocity
+  % control inputs
+  %       u(1): acceleration m/s^2
+  %       u(2): steering angle of front wheel
+  % disturbance input
+  %       w: disturbance with a range (-10^-4,10^4)
+  % Initial state range [9.5, 9.55] × [-4.5, -4.45] × [2.1, 2.11] × [1.5, 1.51]
+  
+dx(1,1) = x(4) * cos(x(3));
+dx(2,1) = x(4) * sin(x(3));
+dx(3,1) = u(2);
+dx(4,1) = u(1) + w;
+
+end
\ No newline at end of file
diff --git a/benchmarks/Benchmark9-Tora/controller.mat b/benchmarks/Benchmark9-Tora/controller.mat
new file mode 100644
index 0000000..1146fd6
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diff --git a/benchmarks/Benchmark9-Tora/controller.onnx b/benchmarks/Benchmark9-Tora/controller.onnx
new file mode 100644
index 0000000..b9dd09e
--- /dev/null
+++ b/benchmarks/Benchmark9-Tora/controller.onnx
@@ -0,0 +1,65 @@
+Sherlock->Onnx:í
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diff --git a/benchmarks/Benchmark9-Tora/dynamics9.m b/benchmarks/Benchmark9-Tora/dynamics9.m
new file mode 100644
index 0000000..7924785
--- /dev/null
+++ b/benchmarks/Benchmark9-Tora/dynamics9.m
@@ -0,0 +1,11 @@
+function [dx] = dynamics9(t,x,u)
+% Ex_tora
+% Initial state range:
+% [0.6, 0.7] × [-0.7, -0.6] × [-0.4, -0.3] × [0.5, 0.6]
+  
+dx(1,1) = x(2);
+dx(2,1) = - x(1) + 0.1*sin(x(3));
+dx(3,1) = x(4);
+dx(4,1) = u;
+
+end
\ No newline at end of file