diff --git a/remote_control/control_commander.py b/remote_control/control_commander.py
index f271e70..caea8ff 100644
--- a/remote_control/control_commander.py
+++ b/remote_control/control_commander.py
@@ -3,19 +3,22 @@ import time
 
 from robot import ControlledRobot
 from pid_controller import PIDController
+from mpc_controller import MPCController
 from event_listener import EventListener
 
 
 class CommanderBase:
     def __init__(self):
         self.robots = []
-        self.robots = [ControlledRobot(12, '10.10.11.91')]  # , Robot(13, '192.168.1.13'), Robot(14, '192.168.1.14')]
+        self.robots = [ControlledRobot(12, '10.10.11.91'), ControlledRobot(13, '10.10.11.90')] #, Robot(14, '192.168.1.14')]
         # self.robots = [ControlledRobot(marker_id=13, ip='10.10.11.90'),
         # ControlledRobot(marker_id=14, ip='10.10.11.89')]
 
         for r in self.robots:
             r.connect()
-            r.attach_controller(PIDController())
+
+        self.robots[0].attach_controller(PIDController())
+        self.robots[1].attach_controller(MPCController())
 
         self.event_listener = EventListener(event_server=('127.0.0.1', 42424))