diff --git a/robotis_controller/include/robotis_controller/robotis_controller.h b/robotis_controller/include/robotis_controller/robotis_controller.h
index a24f870..ae91370 100644
--- a/robotis_controller/include/robotis_controller/robotis_controller.h
+++ b/robotis_controller/include/robotis_controller/robotis_controller.h
@@ -93,7 +93,7 @@ private:
   void initializeSyncWrite();
 
 public:
-  static const int  CONTROL_CYCLE_MSEC  = 4;    // 8 msec
+  static const int  CONTROL_CYCLE_MSEC  = 8;    // 8 msec
 
   bool              DEBUG_PRINT;
   Robot            *robot_;
diff --git a/robotis_math/src/robotis_trajectory_calculator.cpp b/robotis_math/src/robotis_trajectory_calculator.cpp
index bc3b359..c436310 100644
--- a/robotis_math/src/robotis_trajectory_calculator.cpp
+++ b/robotis_math/src/robotis_trajectory_calculator.cpp
@@ -35,7 +35,7 @@
  *      Author: sch
  */
 
-#include "../include/robotis_math/robotis_trajectory_calculator.h"
+#include "robotis_math/robotis_trajectory_calculator.h"
 
 namespace robotis_framework
 {
@@ -508,7 +508,7 @@ bool FifthOrderPolynomialTrajectory::changeTrajectory(double final_pos,   double
   time_mat.resize(6,6);
   time_mat <<  powDI(initial_time_, 5),     powDI(initial_time_, 4),      powDI(initial_time_, 3), powDI(initial_time_, 2), initial_time_, 1.0,
            5.0*powDI(initial_time_, 4),  4.0*powDI(initial_time_, 3), 3.0*powDI(initial_time_, 2),    2.0*initial_time_,              1.0, 0.0,
-          20.0*powDI(initial_time_, 3), 12.0*powDI(initial_time_, 2), 6.0*initial_time_,              2.0,                            0.0, 0.0;
+          20.0*powDI(initial_time_, 3), 12.0*powDI(initial_time_, 2), 6.0*initial_time_,              2.0,                            0.0, 0.0,
                powDI(final_time_, 5),      powDI(final_time_, 4),     powDI(final_time_, 3), powDI(final_time_, 2), final_time_, 1.0,
            5.0*powDI(final_time_, 4),  4.0*powDI(final_time_, 3), 3.0*powDI(final_time_, 2),    2.0*final_time_,            1.0, 0.0,
           20.0*powDI(final_time_, 3), 12.0*powDI(final_time_, 2), 6.0*final_time_,              2.0,                        0.0, 0.0;
@@ -529,6 +529,7 @@ bool FifthOrderPolynomialTrajectory::changeTrajectory(double final_pos,   double
                          12.0*position_coeff_.coeff(0,1),
                           6.0*position_coeff_.coeff(0,2),
                           2.0*position_coeff_.coeff(0,3);
+
   return true;
 }