diff --git a/benchmarks/Airplane/specifications.txt b/benchmarks/Airplane/specifications.txt
index 7584a79..5aed4f6 100644
--- a/benchmarks/Airplane/specifications.txt
+++ b/benchmarks/Airplane/specifications.txt
@@ -3,20 +3,21 @@ Initial states:
 x1 = 0
 x2 = 0
 x3 = 0
-x4 = 0
-x5 = 0
-x6 = 0
+x4 = [0.0, 1.0]
+x5 = [0.0, 1.0]
+x6 = [0.0, 1.0]
 x7 = [0.0, 1.0]
 x8 = [0.0, 1.0]
 x9 = [0.0, 1.0]
-x10 = [0.0, 1.0]
-x11 = [0.0, 1.0]
-x12 = [0.0, 1.0]
+x10 = 0
+x11 = 0
+x12 = 0
 
-t = 20 seconds
+t = 20 control steps = 2 seconds
+control step = 0.1
 
 Property:
 
-x2 should be in [−0.5, 0.5] and x10,x11,x12 should be in [-1.0,1.0]
+x2 should be in [−0.5, 0.5] and x7,x8,x9 should be in [-1.0,1.0]
 
-Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf
\ No newline at end of file
+Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf
diff --git a/benchmarks/Double_Pendulum/Specifications.txt b/benchmarks/Double_Pendulum/Specifications.txt
index 15bfbea..30b7d58 100644
--- a/benchmarks/Double_Pendulum/Specifications.txt
+++ b/benchmarks/Double_Pendulum/Specifications.txt
@@ -5,10 +5,16 @@ x2 = [1.0, 1.3]
 x3 = [1.0, 1.3]
 x4 = [1.0, 1.3]
 
-t = 20 seconds
+t = 20 steps
 
-Property:
+1) controller double pendulum less robust:
+ - control step = 0.05
+ - Property:
+     - Each of the states should be in [−1.0, 1.7]
 
-Each of the states should be in [−1.0, 1.7]
+2) controller double pendulum more robust
+ - control step = 0.02
+ - Property:
+     - Each of the states should be in [-0.5, 1.5]
 
-Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf
\ No newline at end of file
+Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf