diff --git a/remote_control/mpc_controller.py b/remote_control/mpc_controller.py
index 33b38b8..44d1dec 100644
--- a/remote_control/mpc_controller.py
+++ b/remote_control/mpc_controller.py
@@ -6,11 +6,11 @@ from casadi_opt import OpenLoopSolver
 
 
 class MPCController(ControllerBase):
-    def __init__(self):
+    def __init__(self, N=20, T=1.0):
         super().__init__()
         self.t = None
 
-        self.ols = OpenLoopSolver(N=20, T=1.0)
+        self.ols = OpenLoopSolver(N=N, T=T)
         self.ols.setup()
         self.control_rate = self.ols.T / self.ols.N