diff --git a/Project.toml b/Project.toml
index 36cf721ef..c36402207 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.11.0"
+version = "1.11.1"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
diff --git a/src/precompile.jl b/src/precompile.jl
index cd3b1254e..1db5f2ab6 100644
--- a/src/precompile.jl
+++ b/src/precompile.jl
@@ -13,35 +13,14 @@ mpc_im.estim()
 u = mpc_im([55, 30])
 sim!(mpc_im, 2)
 
-mpc_kf = setconstraint!(LinMPC(KalmanFilter(model)), ymin=[45, -Inf])
+transcription = MultipleShooting()
+mpc_kf = setconstraint!(LinMPC(KalmanFilter(model); transcription), ymin=[45, -Inf])
 initstate!(mpc_kf, model.uop, model())
 preparestate!(mpc_kf, [55, 30])
 mpc_kf.estim()
 u = mpc_kf([55, 30])
 sim!(mpc_kf, 2, [55, 30])
 
-transcription = MultipleShooting()
-mpc_lo = setconstraint!(LinMPC(Luenberger(model); transcription), ymin=[45, -Inf])
-initstate!(mpc_lo, model.uop, model())
-preparestate!(mpc_lo, [55, 30])
-mpc_lo.estim()
-u = mpc_lo([55, 30])
-sim!(mpc_lo, 2, [55, 30])
-
-mpc_ukf = setconstraint!(LinMPC(UnscentedKalmanFilter(model)), ymin=[45, -Inf])
-initstate!(mpc_ukf, model.uop, model())
-preparestate!(mpc_ukf, [55, 30])
-mpc_ukf.estim()
-u = mpc_ukf([55, 3])
-sim!(mpc_ukf, 2, [55, 30])
-
-mpc_ekf = setconstraint!(LinMPC(ExtendedKalmanFilter(model)), ymin=[45, -Inf])
-initstate!(mpc_ekf, model.uop, model())
-preparestate!(mpc_ekf, [55, 30])
-mpc_ekf.estim()
-u = mpc_ekf([55, 30])
-sim!(mpc_ekf, 2, [55, 30])
-
 mpc_skf = setconstraint!(LinMPC(SteadyKalmanFilter(model)), ymin=[45, -Inf])
 initstate!(mpc_skf, model.uop, model())
 preparestate!(mpc_skf, [55, 30])
@@ -98,12 +77,6 @@ nlmodel = setop!(
     uop=[10, 10], yop=[50, 30]
 )
 y = nlmodel()
-nmpc_im = setconstraint!(NonLinMPC(InternalModel(nlmodel), Hp=10, Cwt=Inf), ymin=[45, -Inf])
-initstate!(nmpc_im, nlmodel.uop, y)
-preparestate!(nmpc_im, [55, 30])
-nmpc_im.estim()
-u = nmpc_im([55, 30])
-sim!(nmpc_im, 2, [55, 30])
 
 transcription = MultipleShooting(f_threads=true)
 nmpc_ukf = setconstraint!(NonLinMPC(