diff --git a/wetb/control/control.py b/wetb/control/control.py
index 921fbce2a73e8ecca4b0dec319cb61d6e1a0707c..1d378c53f2df0293b14d089053abef7ba2711db5 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -42,7 +42,6 @@ class Control(object):
 
         Returns
         -------
-
         kp: float
             Proportional gain [rad/(rad/s)]
         ki: float
@@ -54,11 +53,11 @@ class Control(object):
 
 
         """
-        pitch *= np.pi/180.
-        I *= 1e-3
-        dQdt *= 180./np.pi
-        Omr *= np.pi/30.
-        om *= 2.*np.pi
+        pitch = pitch * np.pi/180.
+        I = I * 1e-3
+        dQdt = dQdt * 180./np.pi
+        Omr = Omr * np.pi/30.
+        om = om * 2.*np.pi
 
         # Quadratic fitting of dQdt
         A = np.ones([dQdt.shape[0], 3])
@@ -73,8 +72,8 @@ class Control(object):
         kp = -(2*csi*om*I[0] - P/(Omr**2))/x[2]
         ki = -(om**2*I[0])/x[2]
 
-        K1 = x[2]/x[0] * (180./np.pi)
-        K2 = x[2]/x[1] * (180./np.pi)**2
+        K1 = x[2]/x[1]*(180./np.pi)
+        K2 = x[2]/x[0]*(180./np.pi)**2
 
         return kp, ki, K1, K2
 
diff --git a/wetb/control/tests/test_control.py b/wetb/control/tests/test_control.py
index 2d4b68d8048cb6a74b815ad58726847a899f4287..f16b6aa175152f25b89ed826fc5a5ff02a480a2a 100644
--- a/wetb/control/tests/test_control.py
+++ b/wetb/control/tests/test_control.py
@@ -61,10 +61,10 @@ class TestControl(unittest.TestCase):
                                                      self.dQdt[i:],
                                                      P, Omr, om, csi)
 
-        self.assertEqual(kp, 1.5960902436444313)
-        self.assertEqual(ki, 0.71632362627138402)
-        self.assertEqual(K1, 10.463887621856747)
-        self.assertEqual(K2, 573.59471652017498)
+        self.assertEqual(kp, 1.596090243644432)
+        self.assertEqual(ki, 0.71632362627138424)
+        self.assertEqual(K1, 10.01111637532056)
+        self.assertEqual(K2, 599.53659803157643)
 
 if __name__ == "__main__":