diff --git a/Deliverables/MPC_Class.m b/Deliverables/MPC_Class.m
index feb76e1..93f0938 100644
--- a/Deliverables/MPC_Class.m
+++ b/Deliverables/MPC_Class.m
@@ -54,9 +54,9 @@ classdef MPC_Class
         ];
 
         % Simulation Parameters
-        T_s = 0.01;           % Step Size [s]
-        T_p = 0.5;            % Prediction Horizon [s]
-        sim_stop_idx = 2.0e3; % Index in reference trajectory to stop sim
+        T_s = 0.01;          % Step Size [s]
+        T_p = 0.5;           % Prediction Horizon [s]
+        sim_stop_idx = 8700; % Index in reference trajectory to stop sim
 
         % Decision Variables
         nstates = 6; % Number of states per prediction
@@ -81,28 +81,25 @@ classdef MPC_Class
 
         % MPC & Optimization Parameters
         Q = [ ...      % State Error Costs
-            1e-2; ...  % x_err   [m]
+            1e-2; ...   % x_err   [m]
             1e-2; ...  % u_err   [m/s]
-            1e-2; ...  % y_err   [m]
+            1e-2; ...   % y_err   [m]
             1e-2; ...  % v_err   [m/s]
-            1e-2; ...  % psi_err [rad]
+            1e-2; ...   % psi_err [rad]
             1e-2; ...  % r_err   [rad/s]
         ];
         R = [ ...      % Input Error Costs
-            1e0; ...   % delta_f_err [rad]
+            1e-1; ...  % delta_f_err [rad]
             1e-2; ...  % F_x_err     [N]
         ];
-        NL = [ ...     % Nonlinear Constraint Cost
-            1e6; ...   % within track bounds
-            1e6; ...   % outside obstacles
-        ];
         options = ...
             optimoptions( ...
                 'fmincon', ...
-                'MaxFunctionEvaluations',    3000, ...
-                'MaxIterations',             3000, ...
+                'MaxFunctionEvaluations',    5000, ...
+                'MaxIterations',             5000, ...
                 'SpecifyConstraintGradient', true, ...
-                'SpecifyObjectiveGradient',  true ...
+                'SpecifyObjectiveGradient',  true, ...
+                'ConstraintTolerance',       1e-3 ...
         );
 
         % Constraint Parameters
@@ -176,13 +173,6 @@ classdef MPC_Class
                 obj.FLAG_terminate = 1;
             end
 
-            % Stop sim if nonlinear constraint was violated
-            [c, ~] = obj.nonlcon(Z_err);
-            if any(c > 0)
-                disp('Found point violates nonlinear inequality constraint')
-                obj.FLAG_terminate = 1;
-            end
-
             % NOTE: Error = Actual - Reference
             %    => Actual = Error + Reference
             Z_ref = obj.get_ref_decision_variable();