diff --git a/src/lmpc/lmpc.py b/src/lmpc/lmpc.py
index d672cef..76c44aa 100644
--- a/src/lmpc/lmpc.py
+++ b/src/lmpc/lmpc.py
@@ -59,9 +59,9 @@ def set_output_bounds(self, ymin=np.zeros(0), ymax=np.zeros(0), ks =None, soft =
                                     ks=ks, soft=soft, binary=binary, prio=prio)
 
     def set_objective(self, uids=None, Q=None, R=None ,Rr=None, S=None, Qf=None, Qfx=None):
-        Q  = np.zeros((0,0)) if Q  is None else np.array(Q)
-        R  = np.zeros((0,0)) if R  is None else np.array(R)
-        Rr = np.zeros((0,0)) if Rr is None else np.array(Rr)
+        Q  = np.zeros((0,0)) if Q  is None else Q if np.isscalar(Q) else np.array(Q)
+        R  = np.zeros((0,0)) if R  is None else R if np.isscalar(R) else np.array(R)
+        Rr = np.zeros((0,0)) if Rr is None else Rr if np.isscalar(Rr) else np.array(Rr)
         S  = np.zeros((0,0)) if S  is None else np.array(S)
         Qf = np.zeros((0,0)) if Qf is None else np.array(Qf)
         Qfx = np.zeros((0,0)) if Qfx is None else np.array(Qfx)
@@ -108,11 +108,18 @@ def settings(self,settings):
 
     def set_state_observer(self,F=None,G=None,Gd=None,C=None,Dd=None,
                            f_offset=None,h_offset=None,Q=None,R=None,x0=None):
-        print(Q)
-        print(R)
         LinearMPC.set_state_observer_b(self.jl_mpc, F=F,G=G,Gd=Gd,C=C,Dd=Dd,
                                        f_offset=f_offset,h_offset=h_offset,
                                        Q=Q,R=R,x0=x0)
+    def get_state(self):
+        return LinearMPC.get_state(self.jl_mpc)
+    def set_state(self,x0):
+        return LinearMPC.set_state_b(self.jl_mpc,x0)
+    def correct_state(self,y):
+        return LinearMPC.correct_state_b(self.jl_mpc,y)
+    def predict_state(self,u):
+        return LinearMPC.predict_state_b(self.jl_mpc,u)
+
 
     def set_operating_point(self,xo=None,uo=None,relinearize=True):
         LinearMPC.set_operating_point_b(self.jl_mpc,xo=xo,uo=uo,relinearize=relinearize)