diff --git a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/BaseCentroidalMPC.h b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/BaseCentroidalMPC.h
index 7c94373292..e41ab0e6e6 100644
--- a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/BaseCentroidalMPC.h
+++ b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/BaseCentroidalMPC.h
@@ -13,6 +13,8 @@
 #include <string>
 #include <vector>
 
+#include <casadi/casadi.hpp>
+
 #include <BipedalLocomotion/Contacts/Contact.h>
 #include <BipedalLocomotion/Contacts/ContactPhaseList.h>
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
diff --git a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h
index d41ab451a7..4615eea055 100644
--- a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h
+++ b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h
@@ -146,6 +146,8 @@ class CentroidalMPC : public  BaseCentroidalMPC
      */
     const CentroidalMPCOutput& getOutput() const override;
 
+    const ParametrizedCentroidalMPCState& getParametrizedOutput() const override;
+
     /**
      * Determines the validity of the object retrieved with getOutput()
      * @return True if the object is valid, false otherwise.
@@ -156,7 +158,7 @@ class CentroidalMPC : public  BaseCentroidalMPC
      * Perform one control cycle.
      * @return True if the advance is successfull.
      */
-    bool advance() override;
+    bool advance() override;  
 
 private:
     /**
diff --git a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/ParametrizedCentroidalMPC.h b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/ParametrizedCentroidalMPC.h
index bf60e8c789..3c4112fb05 100644
--- a/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/ParametrizedCentroidalMPC.h
+++ b/src/ReducedModelControllers/include/BipedalLocomotion/ReducedModelControllers/ParametrizedCentroidalMPC.h
@@ -26,8 +26,7 @@ namespace ReducedModelControllers
 
 
 
-class ParametrizedCentroidalMPC : public System::Source<ParametrizedCentroidalMPCState>
-                                , public  BaseCentroidalMPC
+class ParametrizedCentroidalMPC : public  BaseCentroidalMPC
 {
 public:
 
@@ -53,6 +52,8 @@ class ParametrizedCentroidalMPC : public System::Source<ParametrizedCentroidalMP
 
     const ParametrizedCentroidalMPCState& getParametrizedOutput() const override;
 
+    const CentroidalMPCOutput& getOutput() const override;
+
     bool isOutputValid() const override;
 
     bool advance() override;
diff --git a/src/ReducedModelControllers/src/CentroidalMPC.cpp b/src/ReducedModelControllers/src/CentroidalMPC.cpp
index 4c67c343c4..049abc5ed3 100644
--- a/src/ReducedModelControllers/src/CentroidalMPC.cpp
+++ b/src/ReducedModelControllers/src/CentroidalMPC.cpp
@@ -28,6 +28,7 @@ struct CentroidalMPC::Impl
     std::chrono::nanoseconds currentTime{std::chrono::nanoseconds::zero()};
 
     CentroidalMPCOutput output;
+    ParametrizedCentroidalMPCState Invalidoutput;
     Contacts::ContactPhaseList contactPhaseList;
     Math::LinearizedFrictionCone frictionCone;
 
@@ -953,6 +954,12 @@ const CentroidalMPCOutput& CentroidalMPC::getOutput() const
     return m_pimpl->output;
 }
 
+const ParametrizedCentroidalMPCState& CentroidalMPC::getParametrizedOutput() const 
+{
+    return m_pimpl->Invalidoutput;
+}
+
+
 bool CentroidalMPC::isOutputValid() const 
 {
     return m_pimpl->fsm == Impl::FSM::OutputValid;
diff --git a/src/ReducedModelControllers/src/ParametrizedCentroidalMPC.cpp b/src/ReducedModelControllers/src/ParametrizedCentroidalMPC.cpp
index 3ea027cf69..83911cdcd4 100644
--- a/src/ReducedModelControllers/src/ParametrizedCentroidalMPC.cpp
+++ b/src/ReducedModelControllers/src/ParametrizedCentroidalMPC.cpp
@@ -26,6 +26,7 @@ struct ParametrizedCentroidalMPC::Impl
     std::chrono::nanoseconds currentTime{std::chrono::nanoseconds::zero()};
 
     ParametrizedCentroidalMPCState output;
+    CentroidalMPCOutput Invalidoutput;
     Contacts::ContactPhaseList contactPhaseList;
 
     enum class FSM
@@ -1054,6 +1055,11 @@ const ParametrizedCentroidalMPCState& ParametrizedCentroidalMPC::getParametrized
     return m_pimpl->output;
 }
 
+const CentroidalMPCOutput& ParametrizedCentroidalMPC::getOutput() const
+{
+    return m_pimpl->Invalidoutput;
+}
+
 bool ParametrizedCentroidalMPC::isOutputValid() const
 {
     return m_pimpl->fsm == Impl::FSM::OutputValid;