diff --git a/README.md b/README.md
index 93f892d..323f2d0 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,12 @@
 # Multi-Purpose MPC
 
-1. [Introduction](#Introduction)
-2. [Implementation Details](#ImplementationDetails)
-   1. [MPC](##MPC)
-3. [How-To](##How-To)
-4. [Limitations and Outlook](#LimitationsOutlook)
+1. [Introduction](#introduction)
+2. [Implementation Details](#implementation-details)
+   1. [Model Predictive Controller (MPC)](#mpc)
+3. [How-To](#how-to)
+4. [Limitations and Outlook](#limitations)
 
-## Introduction
+[## Introduction](#introduction)
 
 In this repository you find an implementation of a multi-purpose Model Predictive Controller. The controller was implemented as a contribution to the [Automatic Control Project Course (EL2425)](https://www.kth.se/student/kurser/kurs/EL2425) at KTH Royal Institute of Technology, Stockholm. 
 The developed algorithm was tested on a 1:10 RC car provided by [KTH Smart Mobility Lab](https://www.kth.se/dcs/research/control-of-transport/smart-mobility-lab/smart-mobility-lab-1.441539). The test scenarios comprised the following three tasks:
@@ -19,9 +19,10 @@ The controller is implemented in a way that enables its application to all three
 
 The rest of this readme is structured as follows. In [Section 2](##Components) we will present an overview of the entire system and discuss all fundamental components of the implementation in detail. In [Section 3](##How-To) we will provide guidelines for using the implementation in simulation and practice. [Section 4](##Limitations) will be dedicated to analyzing limitations of the current version of the controller and outline potential extensions of the implementation.
 
-## Implementation Details
+[## Implementation Details](implementation-details)
 
+[### Model Predictive Controller (MPC)](#mpc)
 
-## How-To
+[## How-To](#how-to)
 
-## Limitations and Outlook
+[## Limitations and Outlook](#limitations)