diff --git a/components/pid/kalman.py b/components/pid/kalman.py
index ce012e8..059f522 100644
--- a/components/pid/kalman.py
+++ b/components/pid/kalman.py
@@ -4,8 +4,7 @@ from matplotlib.pyplot import plot, figure, subplot, grid, show
 
 
 class Kalman:
-	def __init__(self, params):
-		dt = params['dt']
+	def __init__(self, dt, params):
 		var_P = params['var_P']
 		var_Q = params['var_Q']
 		var_R = params['var_R']
@@ -84,12 +83,11 @@ if __name__ == '__main__':
 	dt = 1
 
 	params = {
-		'dt'	: dt,
 		'var_P'	: 1,
 		'var_Q'	: 0.0001,
 		'var_R'	: 0.5
 	}
-	k = Kalman(params)
+	k = Kalman(dt, params)
 
 	_x1 = np.empty(0)
 	_y1 = np.empty(0)