diff --git a/control_act.m b/control_act.m
index c260cd7..4cafb1b 100644
--- a/control_act.m
+++ b/control_act.m
@@ -30,7 +30,14 @@ function [u_corr, U_corr_history, q_pred] = ucorr(t, q, sim_data)
     if eq(pred_hor, 0)
         return
     elseif eq(pred_hor, 1)
-        H = eye(2)*2;
+        % minimize wcorr_r^2 + wcorr_l^2
+        %H = eye(2);
+
+        % ex1: minimize v=r(wr+wl)/2
+        %H = sim_data.r*sim_data.r*0.5*ones(2,2);
+        % ex2: minimize w=r(wr-wl)/d
+        H = sim_data.r*sim_data.r*2*[1, -1; -1, 1]/(sim_data.d*sim_data.d);
+
         f = zeros(2,1);
         T_inv = decouple_matrix(q_act, sim_data);
         ut = utrack(t, q_act, sim_data);
diff --git a/tesi.m b/tesi.m
index 0d0ff4f..182ce85 100644
--- a/tesi.m
+++ b/tesi.m
@@ -3,9 +3,9 @@ clear all
 close all
 
 % options
-ROBOT = 'unicycle'
-TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"]
-%TESTS = ["circle/start_center"]
+ROBOT = 'diffdrive'
+%TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"]
+TESTS = ["circle/start_center"]
 
 % main
 s_ = size(TESTS);
@@ -34,7 +34,7 @@ for i = 1:length(TESTS)
     % 1: track only
     % 2: track + 1step
     % 3: track + multistep
-    spmd (3)
+    spmd (2)
         worker_index = spmdIndex;
         % load controller-specific options
         data = load(['tests/' num2str(worker_index) '.mat']);
@@ -64,7 +64,7 @@ for i = 1:length(TESTS)
     
     % save simulation data
     f1 = [ TEST '/'  char(datetime, 'dd-MM-yyyy-HH-mm-ss')]; % windows compatible name
-    f = ['results-' ROBOT '/' f1];
+    f = ['results-' ROBOT '-costfun-ddronly/' f1];
     mkdir(f)
     % save workspace
     dsave([f '/workspace_composite.mat']);