diff --git a/TF_Implementation/test/test_aPID_tf.py b/TF_Implementation/test/test_aPID_tf.py
index 80c331f..6eba41a 100644
--- a/TF_Implementation/test/test_aPID_tf.py
+++ b/TF_Implementation/test/test_aPID_tf.py
@@ -13,7 +13,19 @@ class TestAdaptivePIDTf(unittest.TestCase):
         self.n_centers = 5
         self.input_dim = 3
         self.rbf_model = RBFAdaptiveModel(self.n_centers, self.input_dim)
-        self.pid_controller = AdaptivePIDTf(self.Kp, self.Ki, self.Kd, self.rbf_model)
+        self.apid = AdaptivePIDTf(self.Kp, self.Ki, self.Kd, self.rbf_model)
+
+    def test_initialization(self):
+        """ Test initialization of the controller."""
+        self.assertEqual(self.apid.Kp, self.Kp)
+        self.assertEqual(self.apid.Ki, self.Ki)
+        self.assertEqual(self.apid.Kd, self.Kd)
+        self.assertIsInstance(self.apid.rbf_model, RBFAdaptiveModel)
+        self.assertEqual(self.apid.prev_err, 0)
+        self.assertEqual(self.apid.error, 0)
+        self.assertEqual(self.apid.integral, 0)
+        self.assertEqual(self.apid.derivative, 0)
+
 
 
 if __name__ == '__main__':