diff --git a/y2022/control_loops/python/catapult_lib.py b/y2022/control_loops/python/catapult_lib.py
index d6040d1..4a88b14 100644
--- a/y2022/control_loops/python/catapult_lib.py
+++ b/y2022/control_loops/python/catapult_lib.py
@@ -15,9 +15,9 @@
 class Catapult(angular_system.AngularSystem):
     def __init__(self, params, name="Catapult"):
         super(Catapult, self).__init__(params, name)
-        # Signal that we have a single cycle output delay to compensate for in
+        # Signal that we have a 2 cycle output delay to compensate for in
         # our observer.
-        self.delayed_u = True
+        self.delayed_u = 2
 
         self.InitializeState()
 
@@ -25,9 +25,9 @@
 class IntegralCatapult(angular_system.IntegralAngularSystem):
     def __init__(self, params, name="IntegralCatapult"):
         super(IntegralCatapult, self).__init__(params, name=name)
-        # Signal that we have a single cycle output delay to compensate for in
+        # Signal that we have a 2 cycle output delay to compensate for in
         # our observer.
-        self.delayed_u = True
+        self.delayed_u = 2
 
         self.InitializeState()
 
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index 2093174..bcfeb24 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -359,10 +359,13 @@
       // hardware applies it, we need to run the optimizer for the position at
       // the *next* control loop cycle.
 
-      const Eigen::Vector3d next_X =
-          catapult_.controller().plant().A() * catapult_.estimated_state() +
-          catapult_.controller().plant().B() *
-              catapult_.controller().observer().last_U();
+      Eigen::Vector3d next_X = catapult_.estimated_state();
+      for (int i = catapult_.controller().plant().coefficients().delayed_u;
+           i > 1; --i) {
+        next_X = catapult_.controller().plant().A() * next_X +
+                 catapult_.controller().plant().B() *
+                     catapult_.controller().observer().last_U(i - 1);
+      }
 
       catapult_mpc_.SetState(
           next_X.block<2, 1>(0, 0),