diff --git a/matlab/iLQR_manipulator_recursive_LS.m b/matlab/iLQR_manipulator_recursive_LS.m
index 53e81b6149f3fde3e9968bb80c5c17d4a1fa4afd..34cd670228283c3f39a20f88dac51b827cfbaa3a 100644
--- a/matlab/iLQR_manipulator_recursive_LS.m
+++ b/matlab/iLQR_manipulator_recursive_LS.m
@@ -34,7 +34,7 @@ R = speye((param.nbData-1)*param.nbVarU) * param.r; %Control weight matrix (at t
 %Time occurrence of viapoints
 tl = linspace(1, param.nbData, param.nbPoints+1);
 tl = round(tl(2:end));
-idx = (tl - 1) * param.nbVarX + [1:param.nchansons quebecoise 2024bVarX]';
+idx = (tl - 1) * param.nbVarX + [1:param.nbVarX]';
 
 
 %% Iterative LQR (iLQR)