diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 92a33700033e7a3c8bd43209ccbeeb73068c904f..eca4e69deb1c1a1d9fad3bde126ef7c7f2f7af0b 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -319,13 +319,13 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
   MatrixXd Jvssq = JVS.transpose()*JVS;
   MatrixXd Jgsq = JG.transpose()*JG;
   MatrixXd Jlsq = JL.transpose()*JL;
-  this->eig_values_.vs = Jvssq.eigenvalues();
-  this->eig_values_.cog = Jgsq.eigenvalues();
-  this->eig_values_.jl = Jgsq.eigenvalues();
+  this->eig_values_.vs = Jvssq.eigenvalues().real();
+  this->eig_values_.cog = Jgsq.eigenvalues().real()*1e6;
+  this->eig_values_.jl = Jlsq.eigenvalues().real();
   // std::cout << "***********" << std::endl << std::endl;
-  // std::cout << "VS eigenvalues:" << std::endl << Jvssq.eigenvalues() << std::endl;
-  // std::cout << "CoG eigenvalues:" << std::endl << Jgsq.eigenvalues()*1e6 << std::endl;
-  // std::cout << "JL eigenvalues:" << std::endl << Jlsq.eigenvalues() << std::endl;
+  // std::cout << "VS eigenvalues:" << std::endl << this->eig_values_.vs << std::endl;
+  // std::cout << "CoG eigenvalues:" << std::endl << this->eig_values_.cog << std::endl;
+  // std::cout << "JL eigenvalues:" << std::endl << this->eig_values_.jl << std::endl;
 }
 void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
 {
diff --git a/src/quadarm_task_priority_ctrl.h b/src/quadarm_task_priority_ctrl.h
index bee41f0341e0b4d1c4c8480db8ba1da2731dbd33..3454c4df0d17a6fce83be95e02f0ff20d259f45a 100644
--- a/src/quadarm_task_priority_ctrl.h
+++ b/src/quadarm_task_priority_ctrl.h
@@ -117,9 +117,9 @@ typedef struct{
 }cog_data;
 
 typedef struct{
-    VectorXcd vs;
-    VectorXcd cog;
-    VectorXcd jl;
+    VectorXd vs;
+    VectorXd cog;
+    VectorXd jl;
 }eig_values;
 
 class CQuadarm_Task_Priority_Ctrl