diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 48bfe27fea1d4e18f178ec2994fadd7f237e94ee..935927737f7cc543309e9cd7cf47c42504808f5b 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0)
 project(d_fall_pps)
 
 ## Add support for C++11, supported in ROS Kinetic and newer
@@ -15,8 +15,9 @@ find_package(catkin REQUIRED COMPONENTS
   genmsg
   rosbag
   roslib
-)
+  )
 
+find_package (Eigen3 3.3 REQUIRED NO_MODULE)
 
 # GUI -- Add precompiler definitions to include ROS things in GUI compilation
 add_definitions(-DCATKIN_MAKE)
@@ -34,6 +35,7 @@ find_package(Qt5Core REQUIRED)
 find_package(Qt5Gui REQUIRED)
 find_package(Qt5Svg REQUIRED)
 
+
 # GUI -- Add src and includes
 set(MY_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
 set(MY_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
@@ -326,7 +328,7 @@ target_link_libraries(PPSClient                ${catkin_LIBRARIES})
 target_link_libraries(SafeControllerService    ${catkin_LIBRARIES})
 target_link_libraries(DemoControllerService    ${catkin_LIBRARIES})
 target_link_libraries(StudentControllerService ${catkin_LIBRARIES})
-target_link_libraries(MpcControllerService     ${catkin_LIBRARIES})
+target_link_libraries(MpcControllerService     ${catkin_LIBRARIES} Eigen3::Eigen)
 target_link_libraries(CentralManagerService    ${catkin_LIBRARIES})
 target_link_libraries(ParameterService         ${catkin_LIBRARIES})
 
diff --git a/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
index a4a2eb6a4d74c2c0e024de52e3334dddc361a375..825378bfd85b06f1e4df9a992dd31b48b261276a 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
@@ -63,7 +63,7 @@
 
 #include <std_msgs/Int32.h>
 
-
+#include <Eigen/Dense>
 
 
 
@@ -243,7 +243,7 @@ void processFetchedParameters();
 
 
 //    ------------------------------------------------------------------------------
-//     OOO   U   U  TTTTT  EEEEE  RRRR 
+//     OOO   U   U  TTTTT  EEEEE  RRRR
 //    O   O  U   U    T    E      R   R
 //    O   O  U   U    T    EEE    RRRR
 //    O   O  U   U    T    E      R  R
@@ -400,8 +400,6 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 	}
 
 
-	
-
 	//  **********************
 	//  Y   Y    A    W     W
 	//   Y Y    A A   W     W