From 5fd60fde15b82734a8a3917264d2175d736b9325 Mon Sep 17 00:00:00 2001
From: Shunichi09 <quick1st97@gmail.com>
Date: Mon, 15 Feb 2021 00:07:55 +0900
Subject: [PATCH] Fix bug

---
 PythonLinearNonlinearControl/configs/two_wheeled.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/PythonLinearNonlinearControl/configs/two_wheeled.py b/PythonLinearNonlinearControl/configs/two_wheeled.py
index 90386aa..070cffc 100644
--- a/PythonLinearNonlinearControl/configs/two_wheeled.py
+++ b/PythonLinearNonlinearControl/configs/two_wheeled.py
@@ -83,9 +83,10 @@ class TwoWheeledConfigModule():
                 "threshold": 1e-6,
             },
             "NMPC": {
-                "threshold": 1e-3,
-                "max_iters": 1000,
-                "learning_rate": 0.1
+                "threshold": 0.01,
+                "max_iters": 5000,
+                "learning_rate": 0.01,
+                "optimizer_mode": "conjugate"
             },
             "NMPC-CGMRES": {
             },