diff --git a/guided_mrmp/controllers/mpc.py b/guided_mrmp/controllers/mpc.py
index 91edd903c56df399f5a01b1e539a3679d8a456d2..e9d5cb9c94269a111056984bc1edd7ed6e55a075 100644
--- a/guided_mrmp/controllers/mpc.py
+++ b/guided_mrmp/controllers/mpc.py
@@ -1,6 +1,6 @@
 import numpy as np
 import casadi as ca
-from guided_mrmp.optimizer import Optimizer
+from guided_mrmp.controllers.optimizer import Optimizer
 
 class MPC:
     def __init__(self, model, T, DT, state_cost, final_state_cost, input_cost, input_rate_cost, settings):
diff --git a/guided_mrmp/controllers/multi_mpc.py b/guided_mrmp/controllers/multi_mpc.py
index 2df98296ad5a3ca0d22e7d277c1b2ec9dd0036ca..f589655192b21a652ab8d824064853f0a61f4e82 100644
--- a/guided_mrmp/controllers/multi_mpc.py
+++ b/guided_mrmp/controllers/multi_mpc.py
@@ -1,6 +1,6 @@
 import numpy as np
 import casadi as ca
-from guided_mrmp.optimizer import Optimizer
+from guided_mrmp.controllers.optimizer import Optimizer
 
 np.seterr(divide="ignore", invalid="ignore")
 
diff --git a/guided_mrmp/optimizer.py b/guided_mrmp/controllers/optimizer.py
similarity index 100%
rename from guided_mrmp/optimizer.py
rename to guided_mrmp/controllers/optimizer.py