diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index c5f5f475a1a5ea460fac895145af5d32cb6bd7bd..95c0d11bea5b3f19714e3e480b6cd502ae41444a 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -527,8 +527,8 @@ computing the analytical trajectories. */
   {
     m_RelativeFootPositions = RelativeFootPositions;
     /* This part computes the CoM and ZMP trajectory giving the foot position information.
-It also creates the analytical feet trajectories.
-*/
+       It also creates the analytical feet trajectories.
+    */
     MAL_S3x3_MATRIX(lMStartingCOMState,double);
 
     lMStartingCOMState(0,0)= lStartingCOMState.x[0];
diff --git a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
index 6d97f76c7c386455b9b04ad80d13869aa3b8c109..f5282d80c0727542e37444b451902267ddbf2926 100644
--- a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
+++ b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
@@ -526,6 +526,11 @@ int DynamicFilter::OptimalControl(
 
   outputDeltaCOMTraj_deq_.resize(NCtrl_);
   // calcul of the preview control along the "deltaZMP_deq_"
+  for(int j=0;j<3;j++)
+  {
+    deltax_(j,0) = 0 ;
+    deltay_(j,0) = 0 ;
+  }
   for (unsigned i = 0 ; i < NCtrl_ ; i++ )
   {
     aof << i*controlPeriod_ << " "               // 1