diff git a/demo_DSGMR01.m b/demo_DSGMR01.m
index 2cc2509d34bc9be8bedb5d3e42c6e9a17993a82d..f136b698065770746d2a77d74e621453eff4ac57 100644
 a/demo_DSGMR01.m
+++ b/demo_DSGMR01.m
@@ 29,11 +29,9 @@ model.nbStates = 3; %Number of Gaussians in the GMM
model.nbFrames = 2; %Number of candidate frames of reference
model.nbVar = 3; %Dimension of the datapoints in the dataset (here: t,x1,x2)
model.dt = 0.01; %Time step
model.kP = 100; %Stiffness gain (required only if LQR is not used for reproduction)
model.kV = (2*model.kP)^.5; %Damping gain (required only if LQR is not used for reproduction)
+model.kP = 100; %Stiffness gain
+model.kV = (2*model.kP)^.5; %Damping gain
nbRepros = 8; %Number of reproductions with new situations randomly generated
rFactor = 1E1; %Weighting term for the minimization of control commands in LQR

%% Load 3rd order tensor data
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
diff git a/init_tensorGMM_timeBased.m b/init_tensorGMM_timeBased.m
index 15779ba2acaabb4fa64412deb7c25aef5ebd169c..010c80ba64a3fe4f1e50740ef5eeeb1de1bb3642 100644
 a/init_tensorGMM_timeBased.m
+++ b/init_tensorGMM_timeBased.m
@@ 1,7 +1,6 @@
function model = init_tensorGMM_timeBased(Data, model)
% Author: Sylvain Calinon, 2014
% http://programmingbydemonstration.org/SylvainCalinon
%
diagRegularizationFactor = 1E4;