diff --git a/matlab/gpmp2_tests/test_parameterization.m b/matlab/gpmp2_tests/test_parameterization.m
new file mode 100644
index 0000000..93f44eb
--- /dev/null
+++ b/matlab/gpmp2_tests/test_parameterization.m
@@ -0,0 +1,10 @@
+import gtsam.*
+import gpmp2.*
+
+% Test parameterization 
+arm = generateArm('KinovaGen3');
+
+% Verify 
+t = arm.fk_model();
+assert(strcmp(t.parameterization,"MODIFIED_DH"),"Wrong parameterization returned");
+assert(strcmp(t.parameterizationString,"Modified Denavit-Hartenberg"),"Wrong parameterization returned");
\ No newline at end of file