diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/FSMState.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/FSMState.h
index 01d1c92..975fdb0 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/FSMState.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/FSMState.h
@@ -15,10 +15,10 @@ class FSMState {
 public:
     virtual ~FSMState() = default;
 
-    FSMState(const FSMStateName &stateName, std::string stateNameString, CtrlComponent ctrlComp)
-        : state_name(stateName),
-          state_name_string(std::move(stateNameString)),
-          ctrl_comp_(std::move(ctrlComp)) {
+    FSMState(const FSMStateName &state_name, std::string state_name_string, CtrlComponent &ctrl_comp)
+        : state_name(state_name),
+          state_name_string(std::move(state_name_string)),
+          ctrl_comp_(ctrl_comp) {
     }
 
     virtual void enter() = 0;
@@ -33,7 +33,7 @@ public:
     std::string state_name_string;
 
 protected:
-    CtrlComponent ctrl_comp_;
+    CtrlComponent &ctrl_comp_;
 };
 
 #endif //FSMSTATE_H
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateBalanceTest.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateBalanceTest.h
index 7017525..66a600f 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateBalanceTest.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateBalanceTest.h
@@ -9,7 +9,7 @@
 
 class StateBalanceTest final : public FSMState {
 public:
-    explicit StateBalanceTest(CtrlComponent ctrlComp);
+    explicit StateBalanceTest(CtrlComponent &ctrlComp);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedDown.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedDown.h
index 1e7ec6b..f46b42f 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedDown.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedDown.h
@@ -9,7 +9,7 @@
 
 class StateFixedDown final : public FSMState {
 public:
-    explicit StateFixedDown(CtrlComponent ctrlComp);
+    explicit StateFixedDown(CtrlComponent &ctrlComp);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedStand.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedStand.h
index e88d11f..fbf17d3 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedStand.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFixedStand.h
@@ -9,7 +9,7 @@
 
 class StateFixedStand final : public FSMState {
 public:
-    explicit StateFixedStand(CtrlComponent ctrlComp);
+    explicit StateFixedStand(CtrlComponent &ctrlComp);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFreeStand.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFreeStand.h
index addeaf3..1287eba 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFreeStand.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateFreeStand.h
@@ -9,7 +9,7 @@
 
 class StateFreeStand final : public FSMState {
 public:
-    explicit StateFreeStand(CtrlComponent ctrl_component);
+    explicit StateFreeStand(CtrlComponent &ctrl_component);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StatePassive.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StatePassive.h
index 136bacc..9b186c4 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StatePassive.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StatePassive.h
@@ -9,7 +9,7 @@
 
 class StatePassive final : public FSMState {
 public:
-    explicit StatePassive(CtrlComponent ctrlComp);
+    explicit StatePassive(CtrlComponent &ctrlComp);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateSwingTest.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateSwingTest.h
index a98c979..7086e29 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateSwingTest.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/FSM/StateSwingTest.h
@@ -10,7 +10,7 @@
 
 class StateSwingTest final : public FSMState {
 public:
-    explicit StateSwingTest(CtrlComponent ctrlComp);
+    explicit StateSwingTest(CtrlComponent &ctrlComp);
 
     void enter() override;
 
diff --git a/controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp b/controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp
index 251e9f1..cfae069 100644
--- a/controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StateBalanceTest.cpp
@@ -6,8 +6,8 @@
 
 #include <unitree_guide_controller/common/mathTools.h>
 
-StateBalanceTest::StateBalanceTest(CtrlComponent ctrlComp) : FSMState(FSMStateName::BALANCETEST, "balance test",
-                                                                      std::move(ctrlComp)),
+StateBalanceTest::StateBalanceTest(CtrlComponent &ctrlComp) : FSMState(FSMStateName::BALANCETEST, "balance test",
+                                                                      ctrlComp),
                                                              estimator_(ctrlComp.estimator_.get()),
                                                              robot_model_(ctrlComp.robot_model_.get()),
                                                              balance_ctrl_(ctrlComp.balance_ctrl_.get()) {
diff --git a/controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp b/controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp
index 8ae4e68..68d0af3 100644
--- a/controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StateFixedDown.cpp
@@ -6,8 +6,8 @@
 
 #include <cmath>
 
-StateFixedDown::StateFixedDown(CtrlComponent ctrlComp): FSMState(
-    FSMStateName::FIXEDDOWN, "fixed down", std::move(ctrlComp)) {
+StateFixedDown::StateFixedDown(CtrlComponent &ctrlComp): FSMState(
+    FSMStateName::FIXEDDOWN, "fixed down", ctrlComp) {
     duration_ = ctrl_comp_.frequency_ * 1.2;
 }
 
diff --git a/controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp b/controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp
index 5e29356..2458d2d 100644
--- a/controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StateFixedStand.cpp
@@ -6,8 +6,8 @@
 
 #include <cmath>
 
-StateFixedStand::StateFixedStand(CtrlComponent ctrlComp): FSMState(
-    FSMStateName::FIXEDSTAND, "fixed stand", std::move(ctrlComp)) {
+StateFixedStand::StateFixedStand(CtrlComponent &ctrlComp): FSMState(
+    FSMStateName::FIXEDSTAND, "fixed stand", ctrlComp) {
     duration_ = ctrl_comp_.frequency_ * 1.2;
 }
 
diff --git a/controllers/unitree_guide_controller/src/FSM/StateFreeStand.cpp b/controllers/unitree_guide_controller/src/FSM/StateFreeStand.cpp
index a66ba79..229da8c 100644
--- a/controllers/unitree_guide_controller/src/FSM/StateFreeStand.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StateFreeStand.cpp
@@ -5,8 +5,8 @@
 #include "unitree_guide_controller/FSM/StateFreeStand.h"
 #include "unitree_guide_controller/common/mathTools.h"
 
-StateFreeStand::StateFreeStand(CtrlComponent ctrl_component) : FSMState(FSMStateName::FREESTAND, "free stand",
-                                                                        std::move(ctrl_component)) {
+StateFreeStand::StateFreeStand(CtrlComponent &ctrl_component) : FSMState(FSMStateName::FREESTAND, "free stand",
+                                                                        ctrl_component) {
     row_max_ = 20 * M_PI / 180;
     row_min_ = -row_max_;
     pitch_max_ = 15 * M_PI / 180;
diff --git a/controllers/unitree_guide_controller/src/FSM/StatePassive.cpp b/controllers/unitree_guide_controller/src/FSM/StatePassive.cpp
index 3f606ec..bbd88dd 100644
--- a/controllers/unitree_guide_controller/src/FSM/StatePassive.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StatePassive.cpp
@@ -7,8 +7,8 @@
 #include <iostream>
 #include <utility>
 
-StatePassive::StatePassive(CtrlComponent ctrlComp) : FSMState(
-    FSMStateName::PASSIVE, "passive", std::move(ctrlComp)) {
+StatePassive::StatePassive(CtrlComponent &ctrlComp) : FSMState(
+    FSMStateName::PASSIVE, "passive", ctrlComp) {
 }
 
 void StatePassive::enter() {
diff --git a/controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp b/controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp
index 8436ad8..80187f5 100644
--- a/controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp
+++ b/controllers/unitree_guide_controller/src/FSM/StateSwingTest.cpp
@@ -6,8 +6,8 @@
 #include "unitree_guide_controller/FSM/StateSwingTest.h"
 #include "unitree_guide_controller/common/mathTools.h"
 
-StateSwingTest::StateSwingTest(CtrlComponent ctrlComp): FSMState(
-    FSMStateName::SWINGTEST, "swing test", std::move(ctrlComp)) {
+StateSwingTest::StateSwingTest(CtrlComponent &ctrlComp): FSMState(
+    FSMStateName::SWINGTEST, "swing test", ctrlComp) {
     _xMin = -0.15;
     _xMax = 0.10;
     _yMin = -0.15;