diff --git a/init.m b/init.m
index 349ec5b5b71c542b0aea9b9050140ecd2f63e80b..cce959931706ebd546247ac78155d26e4a7212fe 100644
--- a/init.m
+++ b/init.m
@@ -13,6 +13,7 @@ rng(1);
 SysC = sysmodel();
 Qc = diag([1500 20 0]);
 Rc = 1;
+mpc_costs = [diag(Qc)' Rc];
 
 [Kc, Sc, Ec] = lqr(SysC, Qc, Rc);
 LQc = ss(SysC.A-SysC.B*Kc, SysC.B, SysC.C, 0);