diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index 8f3a59e..6f853d6 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -28,12 +28,12 @@
 
   const Eigen::Matrix<double, 2, 1> ControllerOutput() override {
     const Eigen::Matrix<double, 2, 1> accelerating_ff =
-        controller(0).Kff * (next_R() - controller(0).plant.A() * R());
+        controller(0).Kff * (next_R() - controller(0).plant.A * R());
     const Eigen::Matrix<double, 2, 1> accelerating_controller =
         controller(0).K * error() + accelerating_ff;
 
     const Eigen::Matrix<double, 2, 1> decelerating_ff =
-        controller(1).Kff * (next_R() - controller(1).plant.A() * R());
+        controller(1).Kff * (next_R() - controller(1).plant.A * R());
     const Eigen::Matrix<double, 2, 1> decelerating_controller =
         controller(1).K * error() + decelerating_ff;