diff --git a/Experimentation/xenia_sravan_nonlinearopt.m b/Experimentation/part2_MPC_controller.m
similarity index 97%
rename from Experimentation/xenia_sravan_nonlinearopt.m
rename to Experimentation/part2_MPC_controller.m
index 46989c0..8d70b2a 100644
--- a/Experimentation/xenia_sravan_nonlinearopt.m
+++ b/Experimentation/part2_MPC_controller.m
@@ -1,4 +1,13 @@
+%% Close Figures, Clear Workspace, and Clear Terminal
+close all;
+clear;
+clc;
+
 %% System Parameters
+% Track Information & Reference Trajectory
+load("TestTrack.mat");
+load('ROB535_ControlProject_part1_Team3.mat');
+
 % Vehicle Parameters (Table 1)
 global Nw f Iz a b By Cy Dy Ey Shy Svy m g
 Nw = 2;
@@ -30,8 +39,9 @@ state_init = [ ...
     0; ...    % r [rad/s]
 ];
 
-%% Load Files
-load("TestTrack.mat");
+% Simulation Parameters
+T_s = 0.01; % Step Size [s]
+T_p = 0.5; % Prediction Horizon [s]
 
 %% Setup
 curr_pos = [state_init(1);state_init(3)];