diff --git a/fatrop/ocp/FatropOCPResto.hpp b/fatrop/ocp/FatropOCPResto.hpp
index 70e3008..908d2d3 100644
--- a/fatrop/ocp/FatropOCPResto.hpp
+++ b/fatrop/ocp/FatropOCPResto.hpp
@@ -277,6 +277,7 @@ namespace fatrop
         {
             rho = options.resto_rho.get();
             xi = options.resto_xi.get();
+            orig_->update_options(options);
         };
         std::shared_ptr<FatropOCP> orig_;
         NLPDims orig_dims_;