diff --git a/src/dcaiti_control/config/dcaiti_config.yml b/src/dcaiti_control/config/dcaiti_config.yml
index dd45f21..c5d13f5 100644
--- a/src/dcaiti_control/config/dcaiti_config.yml
+++ b/src/dcaiti_control/config/dcaiti_config.yml
@@ -22,6 +22,13 @@ diff_cont:
 
     use_stamped_vel: false
 
+    linear:
+      x:
+        has_velocity_limits: true
+        max_velocity: 0.5
+        has_acceleration_limits: true
+        max_acceleration: 0.2
+
 joint_limits:
   ros__parameters:
     left_wheel_joint: