diff --git a/include/mppi/dynamics/dynamics.cu b/include/mppi/dynamics/dynamics.cu
index 8bde793..6e42cfa 100644
--- a/include/mppi/dynamics/dynamics.cu
+++ b/include/mppi/dynamics/dynamics.cu
@@ -16,6 +16,16 @@ void Dynamics<CLASS_T, PARAMS_T>::paramsToDevice(bool synchronize)
   }
 }
 
+template <class CLASS_T, class PARAMS_T>
+void Dynamics<CLASS_T, PARAMS_T>::setDefaultControlRanges()
+{
+  for (int i = 0; i < CONTROL_DIM; i++)
+  {
+    control_rngs_[i].x = -FLT_MAX;
+    control_rngs_[i].y = FLT_MAX;
+  }
+}
+
 template <class CLASS_T, class PARAMS_T>
 void Dynamics<CLASS_T, PARAMS_T>::setControlRanges(std::array<float2, CONTROL_DIM>& control_rngs, bool synchronize)
 {
diff --git a/include/mppi/dynamics/dynamics.cuh b/include/mppi/dynamics/dynamics.cuh
index b74e18e..466d9ab 100644
--- a/include/mppi/dynamics/dynamics.cuh
+++ b/include/mppi/dynamics/dynamics.cuh
@@ -97,12 +97,7 @@ protected:
    */
   Dynamics(cudaStream_t stream = 0) : Managed(stream)
   {
-    // TODO handle at Managed
-    for (int i = 0; i < CONTROL_DIM; i++)
-    {
-      control_rngs_[i].x = -FLT_MAX;
-      control_rngs_[i].y = FLT_MAX;
-    }
+    setDefaultControlRanges();
   }
 
   /**
@@ -124,6 +119,7 @@ protected:
   Dynamics(PARAMS_T& params, cudaStream_t stream = 0) : Managed(stream)
   {
     setParams(params);
+    setDefaultControlRanges();
   }
 
 public:
@@ -519,6 +515,9 @@ protected:
   PARAMS_T params_;
 
   bool requires_buffer_ = false;
+
+private:
+  void setDefaultControlRanges();
 };
 
 #ifdef __CUDACC__
diff --git a/tests/dynamics/dynamics_generic_tests.cu b/tests/dynamics/dynamics_generic_tests.cu
index 87fe490..77ba370 100644
--- a/tests/dynamics/dynamics_generic_tests.cu
+++ b/tests/dynamics/dynamics_generic_tests.cu
@@ -40,6 +40,11 @@ public:
   {
   }
 
+  DynamicsTester(DynamicsTesterParams<STATE_DIM, CONTROL_DIM>& params, cudaStream_t stream = 0)
+    : PARENT_CLASS(params, stream)
+  {
+  }
+
   DynamicsTester(std::array<float2, CONTROL_DIM> control_rngs, cudaStream_t stream = 0)
     : PARENT_CLASS(control_rngs, stream)
   {
@@ -135,6 +140,18 @@ TEST(Dynamics, setParamsCPU)
   EXPECT_EQ(params_result.var_4.y, params.var_4.y);
   EXPECT_EQ(params_result.var_4.z, params.var_4.z);
   EXPECT_EQ(params_result.var_4.w, params.var_4.w);
+
+  // Test params constructor
+  params.var_4.z = 1.5;
+  DynamicsTester<> tester_2 = DynamicsTester<>(params);
+  params_result = tester_2.getParams();
+
+  EXPECT_EQ(params_result.var_1, params.var_1);
+  EXPECT_EQ(params_result.var_2, params.var_2);
+  EXPECT_EQ(params_result.var_4.x, params.var_4.x);
+  EXPECT_EQ(params_result.var_4.y, params.var_4.y);
+  EXPECT_EQ(params_result.var_4.z, params.var_4.z);
+  EXPECT_EQ(params_result.var_4.w, params.var_4.w);
 }
 
 TEST(Dynamics, setParamsGPU)
@@ -162,6 +179,19 @@ TEST(Dynamics, setParamsGPU)
   EXPECT_EQ(params_result.var_4.y, params.var_4.y);
   EXPECT_EQ(params_result.var_4.z, params.var_4.z);
   EXPECT_EQ(params_result.var_4.w, params.var_4.w);
+
+  // Test params constructor
+  params.var_4.z = 1.5;
+  DynamicsTester<> tester_2 = DynamicsTester<>(params);
+  tester_2.GPUSetup();
+  launchParameterTestKernel<DynamicsTester<>, DynamicsTesterParams<>>(tester_2, params_result);
+
+  EXPECT_EQ(params_result.var_1, params.var_1);
+  EXPECT_EQ(params_result.var_2, params.var_2);
+  EXPECT_EQ(params_result.var_4.x, params.var_4.x);
+  EXPECT_EQ(params_result.var_4.y, params.var_4.y);
+  EXPECT_EQ(params_result.var_4.z, params.var_4.z);
+  EXPECT_EQ(params_result.var_4.w, params.var_4.w);
 }
 
 TEST(Dynamics, ClassConstants)
@@ -192,8 +222,23 @@ TEST(Dynamics, SetControlRangesDefault)
   auto ranges_2 = tester.getControlRanges();
   for (int i = 0; i < ranges_2.size(); i++)
   {
-    EXPECT_FLOAT_EQ(ranges[i].x, -FLT_MAX);
-    EXPECT_FLOAT_EQ(ranges[i].y, FLT_MAX);
+    EXPECT_FLOAT_EQ(ranges_2[i].x, -FLT_MAX);
+    EXPECT_FLOAT_EQ(ranges_2[i].y, FLT_MAX);
+  }
+
+  auto params3 = tester.getParams();
+  DynamicsTester<> tester_3 = DynamicsTester<>(params3);
+  auto ranges_3 = tester_3.getControlRanges();
+  EXPECT_FLOAT_EQ(ranges_3[0].x, -FLT_MAX);
+  EXPECT_FLOAT_EQ(ranges_3[0].y, FLT_MAX);
+
+  auto params4 = tester_2.getParams();
+  DynamicsTester<4, 2> tester_4 = DynamicsTester<4, 2>(params4);
+  auto ranges_4 = tester_4.getControlRanges();
+  for (int i = 0; i < ranges_4.size(); i++)
+  {
+    EXPECT_FLOAT_EQ(ranges_4[i].x, -FLT_MAX);
+    EXPECT_FLOAT_EQ(ranges_4[i].y, FLT_MAX);
   }
 }