diff --git a/@sigmoidSensor/plotParameters.m b/@sigmoidSensor/plotParameters.m
index e0f379c..757e630 100644
--- a/@sigmoidSensor/plotParameters.m
+++ b/@sigmoidSensor/plotParameters.m
@@ -1,22 +1,32 @@
-function f = plotParameters(obj)
+function f = plotParameters(obj, f)
     arguments (Input)
         obj (1, 1) {mustBeA(obj, "sigmoidSensor")};
+        f (1, 1) {mustBeA(f, "matlab.ui.Figure")} = figure;
     end
     arguments (Output)
         f (1, 1) {mustBeA(f, "matlab.ui.Figure")};
     end
 
     % Distance and tilt sample points
-    d = 0:(obj.alphaDist / 100):(2*obj.alphaDist);
-    t = -90:1:90;
+    d = 0:(obj.alphaDist / 1000):(2*obj.alphaDist);
+    t = -90:0.1:90;
 
     % Sample membership functions
     d_x = obj.distanceMembership(d);
     t_x = obj.tiltMembership(t);
 
+    % pad ends of sampled results with zeros at +/- some big number
+    big = 1e6 * max(d);
+    d = [-big, d, big];
+    t = [-big, t, big];
+    d_x = [0, d_x', 0];
+    t_x = [0, t_x', 0];
+
     % Plot resultant sigmoid curves
-    f = figure;
-    tiledlayout(f, 2, 1, "TileSpacing", "tight", "Padding", "compact");
+    hold(gca(f), "on");
+    if isempty(gca(f).Children)
+        tiledlayout(f, 2, 1, "TileSpacing", "tight", "Padding", "compact");
+    end
 
     % Distance
     nexttile(1, [1,  1]);
@@ -24,19 +34,35 @@ function f = plotParameters(obj)
     title("Distance Membership Sigmoid");
     xlabel("Distance (m)");
     ylabel("Membership");
+    ld = legend();
     hold("on");
     plot(d, d_x, "LineWidth", 2);
     hold("off");
+    xData = cell2mat(arrayfun(@(x) x.XData(2:(end - 1)), f.Children.Children(end).Children, 'UniformOutput', false));
+    xlim([min(xData, [], "all"), max(xData, [], "all")]);
     ylim([0, 1]);
-
+    
     % Tilt
     nexttile(2, [1,  1]);
     grid("on");
     title("Tilt Membership Sigmoid");
     xlabel("Tilt (deg)");
     ylabel("Membership");
+    lt = legend();
     hold("on");
     plot(t, t_x, "LineWidth", 2);
     hold("off");
+    xlim([-90, 90]);
     ylim([0, 1]);
+
+    % add legends
+    nexttile(1, [1,  1]);
+    f.Children.Children(3).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
+    f.Children.Children(1).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
+
+    nexttile(2, [1,  1]);
+    f.Children.Children(3).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
+    f.Children.Children(1).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
+
+    hold(gca(f), "off");
 end
\ No newline at end of file
diff --git a/@sigmoidSensor/sigmoidSensor.m b/@sigmoidSensor/sigmoidSensor.m
index a6fac33..05e9c73 100644
--- a/@sigmoidSensor/sigmoidSensor.m
+++ b/@sigmoidSensor/sigmoidSensor.m
@@ -16,7 +16,7 @@ classdef sigmoidSensor
         [obj]   = initialize(obj, alphaDist, betaDist, alphaTilt, betaTilt, tilt, azimuth); % initialize sensor, define parameters
         [value] = sensorPerformance(obj, agentPos, targetPos); % determine sensor performance for a given single sensor and target geometry
         [value] = halfAngle(obj); % tilt angle (deg) at which sensor performance is halved
-        [f]     = plotParameters(obj); % debug, plot sensor response as a function of distance and tilt angle
+        [f]     = plotParameters(obj, f); % debug, plot sensor response as a function of distance and tilt angle
     end
     methods (Access = private)
         x = distanceMembership(obj, d); % used in computing distance factor of sensor performance
diff --git a/test/test_sigmoidSensor.m b/test/test_sigmoidSensor.m
index 523be69..1e6dade 100644
--- a/test/test_sigmoidSensor.m
+++ b/test/test_sigmoidSensor.m
@@ -57,6 +57,23 @@ classdef test_sigmoidSensor < matlab.unittest.TestCase
             % Performance at great tilt should be 0
             tc.verifyEqual(tc.testClass.sensorPerformance([0, 0, h], [5, 5, 0]), 0, "AbsTol", 1e-9);
         end
+        function test_thesis_graphic(tc)
+            s = [sigmoidSensor, sigmoidSensor];
+
+            alphaDist = [2, 8];
+            betaDist = [25, 1];
+            alphaTilt = [50, 15]; % degrees
+            betaTilt = [0.2, 3];
+
+            s(1) = s(1).initialize(alphaDist(1), betaDist(1), alphaTilt(1), betaTilt(1));
+            s(2) = s(2).initialize(alphaDist(2), betaDist(2), alphaTilt(2), betaTilt(2));
+
+            % Plot
+            f = s(1).plotParameters;
+            f = s(2).plotParameters(f);
+
+            legend(["Sensor 1"; "Sensor 2"]);
+        end
     end
 
 end
\ No newline at end of file