diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp
index 373de2e0bd911..d2e064eda22ad 100644
--- a/control/mpc_lateral_controller/src/mpc.cpp
+++ b/control/mpc_lateral_controller/src/mpc.cpp
@@ -244,7 +244,7 @@ void MPC::setReferenceTrajectory(
 
 void MPC::resetPrevResult(const SteeringReport & current_steer)
 {
-  // Consider limit. The prev value larger than limitation brakes the optimization constraint and
+  // Consider limit. The prev value larger than limitation breaks the optimization constraint and
   // results in optimization failure.
   const float steer_lim_f = static_cast<float>(m_steer_lim);
   m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f);