diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 53766dc..bebb653 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -817,7 +817,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
       .d_theta = 0.0f,
       .phi = 0.0f+c->param->lqr_offset.phi,
       .d_phi = 0.0f,
-      .x = c->chassis_state.target_x+c->param->lqr_offset.x + leg_x_comp,
+      .x = c->chassis_state.target_x-c->param->lqr_offset.x + leg_x_comp,
       .d_x = c->chassis_state.target_velocity_x,
   };