From d01f153300d4d33f261ac223130cbce002347da4 Mon Sep 17 00:00:00 2001
From: Dominic Hofer <6570912+dominichofer@users.noreply.github.com>
Date: Thu, 12 Jun 2025 00:58:57 +0200
Subject: [PATCH] Fix Controller::apply

---
 src/deepcpp/controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/deepcpp/controller.cpp b/src/deepcpp/controller.cpp
index 6056ef2..bf09294 100644
--- a/src/deepcpp/controller.cpp
+++ b/src/deepcpp/controller.cpp
@@ -149,7 +149,7 @@ std::vector<VectorXd> Controller::apply(const std::vector<VectorXd> &target, con
     
     // Flatten
     VectorXd target_ = concat(target);
-    VectorXd offset_ = offset.empty() ? VectorXd::Zero(target_size * output_dims) : concat(offset);
+    VectorXd offset_ = offset.empty() ? VectorXd::Zero(target_size * input_dims) : concat(offset);
 
     auto x = concat(u_ini.get(), y_ini.get());
     auto w = M_u.transpose() * Q * (target_ - M_x * x) + R * offset_;