diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9de152e18d687f30182082a61a2311803ab18adb..120e4370737cc31712eb41aa6465ec9e7f1285a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -410,11 +410,11 @@ target_link_libraries(demo_Riemannian_S2_TPGMM01
 	${LIBRARIES}
 )
 
-add_executable(demo_TPMPC01
+add_executable(demo_TPLQT01
 	${GFX2_SUPPORT_SOURCES}
-	${PROJECT_SOURCE_DIR}/src/demo_TPMPC01.cpp
+	${PROJECT_SOURCE_DIR}/src/demo_TPLQT01.cpp
 )
-target_link_libraries(demo_TPMPC01
+target_link_libraries(demo_TPLQT01
 	${LIBRARIES}
 )
 
diff --git a/src/demo_TPMPC01.cpp b/src/demo_TPLQT01.cpp
similarity index 99%
rename from src/demo_TPMPC01.cpp
rename to src/demo_TPLQT01.cpp
index 4917f47527c95900d83ac7997560c5b5ad2f1c9e..406af30f3828932c404de09a96bfe01e58815be6 100644
--- a/src/demo_TPMPC01.cpp
+++ b/src/demo_TPLQT01.cpp
@@ -1,7 +1,7 @@
 /*
- * demo_TPMPC01.cpp
+ * demo_TPLQT01.cpp
  *
- * Linear quadratic control (unconstrained linear MPC) acting in multiple frames,
+ * Linear quadratic tracking (LQT) acting in multiple frames,
  * which is equivalent to a product of Gaussian controllers through a TP-GMM
  * representation.
  *