From 04ea3d1c046c1eac5040451b66699abacf727e63 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Sun, 8 Feb 2026 10:52:35 -0500
Subject: [PATCH 1/3] debug: avoid duplicate precompile macros

---
 src/ModelPredictiveControl.jl | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/src/ModelPredictiveControl.jl b/src/ModelPredictiveControl.jl
index c33cc2c85..61fdcf537 100644
--- a/src/ModelPredictiveControl.jl
+++ b/src/ModelPredictiveControl.jl
@@ -57,14 +57,8 @@ include("state_estim.jl")
 include("predictive_control.jl")
 include("plot_sim.jl")
 
-@setup_workload begin
-    # Putting some things in `@setup_workload` instead of `@compile_workload` can reduce the
-    # size of the precompile file and potentially make loading faster.
-    @compile_workload begin
-        # all calls in this block will be precompiled, regardless of whether
-        # they belong to your package or not (on Julia 1.8 and higher)
-        include("precompile.jl")
-    end
-end
+
+include("precompile.jl")
+
 
 end
\ No newline at end of file

From da4264d9921d298802f6970ec8d16d8500263170 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Sun, 8 Feb 2026 10:53:19 -0500
Subject: [PATCH 2/3] bump

---
 Project.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Project.toml b/Project.toml
index 11d88959d..b69146f17 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,6 +1,6 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
-version = "1.16.1"
+version = "1.16.2"
 authors = ["Francis Gagnon"]
 
 [deps]

From 3b71fa2eab7763e493653467f782b7217084ec23 Mon Sep 17 00:00:00 2001
From: Francis Gagnon <34136215+franckgaga@users.noreply.github.com>
Date: Sun, 8 Feb 2026 14:37:08 -0500
Subject: [PATCH 3/3] Disable Uno Solver benchmark (once more)

Comment out benchmark for Multiple Shooting (Hessian) case.
---
 benchmark/3_bench_predictive_control.jl | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/benchmark/3_bench_predictive_control.jl b/benchmark/3_bench_predictive_control.jl
index 374bdcd45..a9efbfd60 100644
--- a/benchmark/3_bench_predictive_control.jl
+++ b/benchmark/3_bench_predictive_control.jl
@@ -410,11 +410,11 @@ CASE_MPC["Pendulum"]["NonLinMPC"]["Noneconomic"]["MadNLP"]["SingleShooting"] =
         sim!($nmpc_madnlp_ss, $N, $ry; plant=$plant, x_0=$x_0, x̂_0=$x̂_0, progress=false),
         samples=samples, evals=evals, seconds=seconds
     )
-CASE_MPC["Pendulum"]["NonLinMPC"]["Noneconomic"]["Uno"]["MultipleShooting (Hessian)"] = 
-    @benchmarkable(
-        sim!($nmpc_uno_ms_hess, $N, $ry; plant=$plant, x_0=$x_0, x̂_0=$x̂_0, progress=false),
-        samples=samples, evals=evals, seconds=seconds
-    )    
+# CASE_MPC["Pendulum"]["NonLinMPC"]["Noneconomic"]["Uno"]["MultipleShooting (Hessian)"] = 
+#     @benchmarkable(
+#         sim!($nmpc_uno_ms_hess, $N, $ry; plant=$plant, x_0=$x_0, x̂_0=$x̂_0, progress=false),
+#        samples=samples, evals=evals, seconds=seconds
+#     )    
 
 # ----------------- Case study: Pendulum economic --------------------------------
 model2, p = pendulum_model2, pendulum_p2