diff --git a/.gitignore b/.gitignore
index 2bb438b..5884507 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,7 +10,6 @@ __pycache__/MPC.cpython-37.pyc
 __pycache__/reference_path.cpython-37.pyc
 __pycache__/spatial_bicycle_models.cpython-37.pyc
 *.mp4
-*.png
 *.DS_Store
 .gitattributes
 .idea
diff --git a/Images/MPC_Framework.png b/Images/MPC_Framework.png
new file mode 100644
index 0000000..bad93a8
Binary files /dev/null and b/Images/MPC_Framework.png differ