diff --git a/iLQR/README.md b/iLQR/README.md
index 74de2a3..73a1c88 100644
--- a/iLQR/README.md
+++ b/iLQR/README.md
@@ -44,13 +44,17 @@ $ python3 main_dynamic.py
 
 - static goal
 
+<img src = https://github.com/Shunichi09/linear_nonlinear_control/blob/demo_gif/iLQR/animation_static.gif width = 70%>
 
+<img src = https://github.com/Shunichi09/linear_nonlinear_control/blob/demo_gif/iLQR/figure_static.png width = 70%>
 
 
 - track the goal
 
 
+<img src = https://github.com/Shunichi09/linear_nonlinear_control/blob/demo_gif/iLQR/animation_dynamic.gif width = 70%>
 
+<img src = https://github.com/Shunichi09/linear_nonlinear_control/blob/demo_gif/iLQR/figure_dynamic.png width = 70%>
 
 
 # Requirement
@@ -69,4 +73,4 @@ http://rail.eecs.berkeley.edu/deeprlcourse/
 
 - Tassa, Y., Erez, T., & Todorov, E. (2012). Synthesis and stabilization of complex behaviors through online trajectory optimization. IEEE International Conference on Intelligent Robots and Systems, 4906–4913. https://doi.org/10.1109/IROS.2012.6386025
 
-- Li, W., & Todorov, E. (n.d.). Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. Retrieved from https://homes.cs.washington.edu/~todorov/papers/LiICINCO04.pdf
\ No newline at end of file
+- Li, W., & Todorov, E. (n.d.). Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. Retrieved from https://homes.cs.washington.edu/~todorov/papers/LiICINCO04.pdf