diff --git a/Experimentation/MPC_Class.m b/Deliverables/MPC_Class.m
similarity index 99%
rename from Experimentation/MPC_Class.m
rename to Deliverables/MPC_Class.m
index 981e652..1456c69 100644
--- a/Experimentation/MPC_Class.m
+++ b/Deliverables/MPC_Class.m
@@ -200,7 +200,7 @@ classdef MPC_Class
             H = diag(H);
 
             % Evaluate cost function (quadratic function)
-            J = Z_err.' * H * Z_err;
+            J = 0.5 * Z_err.' * H * Z_err;
         end
     end
 
diff --git a/Experimentation/part2_test_controller.m b/Experimentation/part2_test_controller.m
index fd45817..f8e816c 100644
--- a/Experimentation/part2_test_controller.m
+++ b/Experimentation/part2_test_controller.m
@@ -9,13 +9,17 @@ info = getTrajectoryInfo(Y,U)
 
 %% Figures
 % Plot segmented trajectory for debugging purposes
+close all;
 figure(1)
 hold on;
 grid on;
 
-plot(Y(:,1), Y(:,3), '-');
-
 load('TestTrack.mat')
-plot(TestTrack.bl(1,:), TestTrack.bl(2,:), '--r');
-plot(TestTrack.br(1,:), TestTrack.br(2,:), '--r');
-plot(TestTrack.cline(1,:), TestTrack.cline(2,:), '-.g');
\ No newline at end of file
+load('ROB535_ControlProject_part1_Team3.mat')
+
+plot(Y(:,1), Y(:,3), 'b-');
+plot(ROB535_ControlProject_part1_state(:,1), ROB535_ControlProject_part1_state(:,3), 'k-');
+
+plot(TestTrack.bl(1,:), TestTrack.bl(2,:), 'r.-');
+plot(TestTrack.br(1,:), TestTrack.br(2,:), 'r.-');
+plot(TestTrack.cline(1,:), TestTrack.cline(2,:), 'g.-');
\ No newline at end of file
diff --git a/Experimentation/part2_MPC_controller.m b/Experimentation/sravan_MPC_controller.m
similarity index 100%
rename from Experimentation/part2_MPC_controller.m
rename to Experimentation/sravan_MPC_controller.m