diff --git a/Manifest.toml b/Manifest.toml
index becee80..35d4c71 100644
--- a/Manifest.toml
+++ b/Manifest.toml
@@ -1,16 +1,18 @@
 # This file is machine-generated - editing it directly is not advised
 
 [[ADTypes]]
-git-tree-sha1 = "eea5d80188827b35333801ef97a40c2ed653b081"
+git-tree-sha1 = "72af59f5b8f09faee36b4ec48e014a79210f2f4f"
 uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
-version = "1.9.0"
+version = "1.11.0"
 
     [ADTypes.extensions]
     ADTypesChainRulesCoreExt = "ChainRulesCore"
+    ADTypesConstructionBaseExt = "ConstructionBase"
     ADTypesEnzymeCoreExt = "EnzymeCore"
 
     [ADTypes.weakdeps]
     ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    ConstructionBase = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
     EnzymeCore = "f151be2c-9106-41f4-ab19-57ee4f262869"
 
 [[AbstractFFTs]]
@@ -30,24 +32,26 @@ uuid = "1520ce14-60c1-5f80-bbc7-55ef81b5835c"
 version = "0.4.5"
 
 [[Accessors]]
-deps = ["CompositionsBase", "ConstructionBase", "InverseFunctions", "LinearAlgebra", "MacroTools", "Markdown"]
-git-tree-sha1 = "b392ede862e506d451fc1616e79aa6f4c673dab8"
+deps = ["CompositionsBase", "ConstructionBase", "InverseFunctions", "MacroTools"]
+git-tree-sha1 = "e93c42e833e6d4bd28be7b3b56d8deb99fd51f25"
 uuid = "7d9f7c33-5ae7-4f3b-8dc6-eff91059b697"
-version = "0.1.38"
+version = "0.1.40"
 
     [Accessors.extensions]
-    AccessorsAxisKeysExt = "AxisKeys"
-    AccessorsDatesExt = "Dates"
-    AccessorsIntervalSetsExt = "IntervalSets"
-    AccessorsStaticArraysExt = "StaticArrays"
-    AccessorsStructArraysExt = "StructArrays"
-    AccessorsTestExt = "Test"
-    AccessorsUnitfulExt = "Unitful"
+    AxisKeysExt = "AxisKeys"
+    DatesExt = "Dates"
+    IntervalSetsExt = "IntervalSets"
+    LinearAlgebraExt = "LinearAlgebra"
+    StaticArraysExt = "StaticArrays"
+    StructArraysExt = "StructArrays"
+    TestExt = "Test"
+    UnitfulExt = "Unitful"
 
     [Accessors.weakdeps]
     AxisKeys = "94b1ba4f-4ee9-5380-92f1-94cde586c3c5"
     Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
     IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
     Requires = "ae029012-a4dd-5104-9daa-d747884805df"
     StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
     StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
@@ -72,13 +76,13 @@ version = "1.1.3"
 
 [[ArgTools]]
 uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f"
-version = "1.1.1"
+version = "1.1.2"
 
 [[ArrayInterface]]
 deps = ["Adapt", "LinearAlgebra"]
-git-tree-sha1 = "d60a1922358aa203019b7857a2c8c37329b8736c"
+git-tree-sha1 = "017fcb757f8e921fb44ee063a7aafe5f89b86dd1"
 uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
-version = "7.17.0"
+version = "7.18.0"
 
     [ArrayInterface.extensions]
     ArrayInterfaceBandedMatricesExt = "BandedMatrices"
@@ -108,9 +112,16 @@ version = "7.17.0"
 
 [[Artifacts]]
 uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
+version = "1.11.0"
 
 [[Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
+version = "1.11.0"
+
+[[Bessels]]
+git-tree-sha1 = "4435559dc39793d53a9e3d278e185e920b4619ef"
+uuid = "0e736298-9ec6-45e8-9647-e4fc86a2fe38"
+version = "0.2.8"
 
 [[Bijections]]
 git-tree-sha1 = "d8b0439d2be438a5f2cd68ec158fe08a7b2595b7"
@@ -131,9 +142,9 @@ version = "0.2.6"
 
 [[ChainRulesCore]]
 deps = ["Compat", "LinearAlgebra"]
-git-tree-sha1 = "3e4b134270b372f2ed4d4d0e936aabaefc1802bc"
+git-tree-sha1 = "1713c74e00545bfe14605d2a2be1712de8fbcb58"
 uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
-version = "1.25.0"
+version = "1.25.1"
 weakdeps = ["SparseArrays"]
 
     [ChainRulesCore.extensions]
@@ -151,9 +162,9 @@ uuid = "861a8166-3701-5b0c-9a16-15d98fcdc6aa"
 version = "1.0.2"
 
 [[CommonEq]]
-git-tree-sha1 = "d1beba82ceee6dc0fce8cb6b80bf600bbde66381"
+git-tree-sha1 = "6b0f0354b8eb954cdba708fb262ef00ee7274468"
 uuid = "3709ef60-1bee-4518-9f2f-acd86f176c50"
-version = "0.2.0"
+version = "0.2.1"
 
 [[CommonSolve]]
 git-tree-sha1 = "0eee5eb66b1cf62cd6ad1b460238e60e4b09400c"
@@ -207,21 +218,21 @@ uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d"
 version = "1.10.2"
 
 [[ConstructionBase]]
-deps = ["LinearAlgebra"]
-git-tree-sha1 = "d8a9c0b6ac2d9081bf76324b39c78ca3ce4f0c98"
+git-tree-sha1 = "76219f1ed5771adbb096743bff43fb5fdd4c1157"
 uuid = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
-version = "1.5.6"
-weakdeps = ["IntervalSets", "StaticArrays"]
+version = "1.5.8"
+weakdeps = ["IntervalSets", "LinearAlgebra", "StaticArrays"]
 
     [ConstructionBase.extensions]
     ConstructionBaseIntervalSetsExt = "IntervalSets"
+    ConstructionBaseLinearAlgebraExt = "LinearAlgebra"
     ConstructionBaseStaticArraysExt = "StaticArrays"
 
 [[ControlSystemsBase]]
 deps = ["DSP", "ForwardDiff", "IterTools", "LaTeXStrings", "LinearAlgebra", "MacroTools", "MatrixEquations", "MatrixPencils", "Polyester", "Polynomials", "PrecompileTools", "Printf", "Random", "RecipesBase", "SparseArrays", "StaticArraysCore", "UUIDs"]
-git-tree-sha1 = "8d1f12a2c45a89634aac3ba511ed565984b822d9"
+git-tree-sha1 = "400d8ab689cf056e7499333b2b58339e16771b9d"
 uuid = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
-version = "1.11.1"
+version = "1.12.0"
 
     [ControlSystemsBase.extensions]
     ControlSystemsBaseImplicitDifferentiationExt = ["ImplicitDifferentiation", "ComponentArrays"]
@@ -237,10 +248,16 @@ uuid = "adafc99b-e345-5852-983c-f28acb93d879"
 version = "0.3.1"
 
 [[DSP]]
-deps = ["Compat", "FFTW", "IterTools", "LinearAlgebra", "Polynomials", "Random", "Reexport", "SpecialFunctions", "Statistics"]
-git-tree-sha1 = "0df00546373af8eee1598fb4b2ba480b1ebe895c"
+deps = ["Bessels", "FFTW", "IterTools", "LinearAlgebra", "Polynomials", "Random", "Reexport", "SpecialFunctions", "Statistics"]
+git-tree-sha1 = "489db9d78b53e44fb753d225c58832632d74ab10"
 uuid = "717857b8-e6f2-59f4-9121-6e50c889abd2"
-version = "0.7.10"
+version = "0.8.0"
+
+    [DSP.extensions]
+    OffsetArraysExt = "OffsetArrays"
+
+    [DSP.weakdeps]
+    OffsetArrays = "6fe1bfb0-de20-5000-8ca7-80f57d26f881"
 
 [[DataAPI]]
 git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
@@ -261,6 +278,7 @@ version = "1.0.0"
 [[Dates]]
 deps = ["Printf"]
 uuid = "ade2ca70-3891-5945-98fb-dc099432e06a"
+version = "1.11.0"
 
 [[DiffResults]]
 deps = ["StaticArraysCore"]
@@ -277,12 +295,13 @@ version = "1.15.1"
 [[Distributed]]
 deps = ["Random", "Serialization", "Sockets"]
 uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
+version = "1.11.0"
 
 [[Distributions]]
 deps = ["AliasTables", "FillArrays", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SpecialFunctions", "Statistics", "StatsAPI", "StatsBase", "StatsFuns"]
-git-tree-sha1 = "3101c32aab536e7a27b1763c0797dba151b899ad"
+git-tree-sha1 = "7901a6117656e29fa2c74a58adb682f380922c47"
 uuid = "31c24e10-a181-5473-b8eb-7969acd0382f"
-version = "0.25.113"
+version = "0.25.116"
 
     [Distributions.extensions]
     DistributionsChainRulesCoreExt = "ChainRulesCore"
@@ -318,10 +337,10 @@ uuid = "f43a241f-c20a-4ad4-852c-f6b1247861c6"
 version = "1.6.0"
 
 [[DynamicPolynomials]]
-deps = ["Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Pkg", "Reexport", "Test"]
-git-tree-sha1 = "30a1848c4f4fc35d1d4bbbd125650f6a11b5bc6c"
+deps = ["Future", "LinearAlgebra", "MultivariatePolynomials", "MutableArithmetics", "Reexport", "Test"]
+git-tree-sha1 = "9a3ae38b460449cc9e7dd0cfb059c76028724627"
 uuid = "7c1d4256-1411-5781-91ec-d7bc3513ac07"
-version = "0.5.7"
+version = "0.6.1"
 
 [[EnumX]]
 git-tree-sha1 = "bdb1942cd4c45e3c678fd11569d5cccd80976237"
@@ -349,10 +368,11 @@ version = "1.8.0"
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
 git-tree-sha1 = "4d81ed14783ec49ce9f2e168208a12ce1815aa25"
 uuid = "f5851436-0d7a-5f13-b9de-f02708fd171a"
-version = "3.3.10+1"
+version = "3.3.10+3"
 
 [[FileWatching]]
 uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee"
+version = "1.11.0"
 
 [[FillArrays]]
 deps = ["LinearAlgebra"]
@@ -395,6 +415,7 @@ version = "0.1.3"
 [[Future]]
 deps = ["Random"]
 uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820"
+version = "1.11.0"
 
 [[GPUArraysCore]]
 deps = ["Adapt"]
@@ -413,6 +434,11 @@ git-tree-sha1 = "debdd00ffef04665ccbb3e150747a77560e8fad1"
 uuid = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 version = "0.1.1"
 
+[[IntegerMathUtils]]
+git-tree-sha1 = "b8ffb903da9f7b8cf695a8bead8e01814aa24b30"
+uuid = "18e54dd8-cb9d-406c-a71d-865a43cbb235"
+version = "0.1.2"
+
 [[IntelOpenMP_jll]]
 deps = ["Artifacts", "JLLWrappers", "LazyArtifacts", "Libdl"]
 git-tree-sha1 = "10bd689145d2c3b2a9844005d01087cc1194e79e"
@@ -422,6 +448,7 @@ version = "2024.2.1+0"
 [[InteractiveUtils]]
 deps = ["Markdown"]
 uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
+version = "1.11.0"
 
 [[IntervalSets]]
 git-tree-sha1 = "dba9ddf07f77f60450fe5d2e2beb9854d9a49bd0"
@@ -461,9 +488,9 @@ version = "1.0.0"
 
 [[JLLWrappers]]
 deps = ["Artifacts", "Preferences"]
-git-tree-sha1 = "be3dc50a92e5a386872a493a10050136d4703f9b"
+git-tree-sha1 = "a007feb38b422fbdab534406aeca1b86823cb4d6"
 uuid = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-version = "1.6.1"
+version = "1.7.0"
 
 [[JSON]]
 deps = ["Dates", "Mmap", "Parsers", "Unicode"]
@@ -476,17 +503,6 @@ git-tree-sha1 = "dda21b8cbd6a6c40d9d02a73230f9d70fed6918c"
 uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
 version = "1.4.0"
 
-[[LabelledArrays]]
-deps = ["ArrayInterface", "ChainRulesCore", "ForwardDiff", "LinearAlgebra", "MacroTools", "PreallocationTools", "RecursiveArrayTools", "StaticArrays"]
-git-tree-sha1 = "e459fda6b68ea8684b3fcd513d2fd1e5130c4402"
-uuid = "2ee39098-c373-598a-b85f-a56591580800"
-version = "1.16.0"
-
-[[LambertW]]
-git-tree-sha1 = "c5ffc834de5d61d00d2b0e18c96267cffc21f648"
-uuid = "984bce1d-4616-540c-a9ee-88d1112d94c9"
-version = "0.4.6"
-
 [[Latexify]]
 deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"]
 git-tree-sha1 = "ce5f5621cac23a86011836badfedf664a612cee4"
@@ -512,6 +528,7 @@ version = "0.1.17"
 [[LazyArtifacts]]
 deps = ["Artifacts", "Pkg"]
 uuid = "4af54fe1-eca0-43a8-85a7-787d91b784e3"
+version = "1.11.0"
 
 [[LibCURL]]
 deps = ["LibCURL_jll", "MozillaCACerts_jll"]
@@ -521,16 +538,17 @@ version = "0.6.4"
 [[LibCURL_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll", "Zlib_jll", "nghttp2_jll"]
 uuid = "deac9b47-8bc7-5906-a0fe-35ac56dc84c0"
-version = "8.4.0+0"
+version = "8.6.0+0"
 
 [[LibGit2]]
 deps = ["Base64", "LibGit2_jll", "NetworkOptions", "Printf", "SHA"]
 uuid = "76f85450-5226-5b5a-8eaa-529ad045b433"
+version = "1.11.0"
 
 [[LibGit2_jll]]
 deps = ["Artifacts", "LibSSH2_jll", "Libdl", "MbedTLS_jll"]
 uuid = "e37daf67-58a4-590a-8e99-b0245dd2ffc5"
-version = "1.6.4+0"
+version = "1.7.2+0"
 
 [[LibSSH2_jll]]
 deps = ["Artifacts", "Libdl", "MbedTLS_jll"]
@@ -539,10 +557,12 @@ version = "1.11.0+1"
 
 [[Libdl]]
 uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
+version = "1.11.0"
 
 [[LinearAlgebra]]
 deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"]
 uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+version = "1.11.0"
 
 [[LinearMaps]]
 deps = ["LinearAlgebra"]
@@ -558,9 +578,9 @@ weakdeps = ["ChainRulesCore", "SparseArrays", "Statistics"]
 
 [[LogExpFunctions]]
 deps = ["DocStringExtensions", "IrrationalConstants", "LinearAlgebra"]
-git-tree-sha1 = "a2d09619db4e765091ee5c6ffe8872849de0feea"
+git-tree-sha1 = "13ca9e2586b89836fd20cccf56e57e2b9ae7f38f"
 uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
-version = "0.3.28"
+version = "0.3.29"
 
     [LogExpFunctions.extensions]
     LogExpFunctionsChainRulesCoreExt = "ChainRulesCore"
@@ -574,6 +594,7 @@ version = "0.3.28"
 
 [[Logging]]
 uuid = "56ddb016-857b-54e1-b83d-db4d58db5568"
+version = "1.11.0"
 
 [[MKL_jll]]
 deps = ["Artifacts", "IntelOpenMP_jll", "JLLWrappers", "LazyArtifacts", "Libdl", "oneTBB_jll"]
@@ -587,10 +608,9 @@ uuid = "d8e11817-5142-5d16-987a-aa16d5891078"
 version = "0.4.17"
 
 [[MacroTools]]
-deps = ["Markdown", "Random"]
-git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
+git-tree-sha1 = "72aebe0b5051e5143a079a4685a46da330a40472"
 uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09"
-version = "0.5.13"
+version = "0.5.15"
 
 [[ManualMemory]]
 git-tree-sha1 = "bcaef4fc7a0cfe2cba636d84cda54b5e4e4ca3cd"
@@ -600,6 +620,7 @@ version = "0.1.8"
 [[Markdown]]
 deps = ["Base64"]
 uuid = "d6f4376e-aef5-505a-96c1-9c027394607a"
+version = "1.11.0"
 
 [[MatrixEquations]]
 deps = ["LinearAlgebra", "LinearMaps"]
@@ -616,7 +637,7 @@ version = "1.8.0"
 [[MbedTLS_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1"
-version = "2.28.2+1"
+version = "2.28.6+0"
 
 [[Missings]]
 deps = ["DataAPI"]
@@ -626,10 +647,11 @@ version = "1.2.0"
 
 [[Mmap]]
 uuid = "a63ad114-7e13-5084-954f-fe012c677804"
+version = "1.11.0"
 
 [[MozillaCACerts_jll]]
 uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
-version = "2023.1.10"
+version = "2023.12.12"
 
 [[MultivariatePolynomials]]
 deps = ["ChainRulesCore", "DataStructures", "LinearAlgebra", "MutableArithmetics"]
@@ -639,15 +661,15 @@ version = "0.5.7"
 
 [[MutableArithmetics]]
 deps = ["LinearAlgebra", "SparseArrays", "Test"]
-git-tree-sha1 = "90077f1e79de8c9c7c8a90644494411111f4e07b"
+git-tree-sha1 = "a2710df6b0931f987530f59427441b21245d8f5e"
 uuid = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
-version = "1.5.2"
+version = "1.6.0"
 
 [[NaNMath]]
 deps = ["OpenLibm_jll"]
-git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4"
+git-tree-sha1 = "030ea22804ef91648f29b7ad3fc15fa49d0e6e71"
 uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
-version = "1.0.2"
+version = "1.0.3"
 
 [[NetworkOptions]]
 uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
@@ -656,7 +678,7 @@ version = "1.2.0"
 [[OpenBLAS_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
 uuid = "4536629a-c528-5b80-bd46-f80d51c5b363"
-version = "0.3.23+4"
+version = "0.3.27+1"
 
 [[OpenLibm_jll]]
 deps = ["Artifacts", "Libdl"]
@@ -664,15 +686,15 @@ uuid = "05823500-19ac-5b8b-9628-191a04bc5112"
 version = "0.8.1+2"
 
 [[OpenSpecFun_jll]]
-deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1"
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1346c9208249809840c91b26703912dff463d335"
 uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
-version = "0.5.5+0"
+version = "0.5.6+0"
 
 [[OrderedCollections]]
-git-tree-sha1 = "dfdf5519f235516220579f949664f1bf44e741c5"
+git-tree-sha1 = "12f1439c4f986bb868acda6ea33ebc78e19b95ad"
 uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
-version = "1.6.3"
+version = "1.7.0"
 
 [[PDMats]]
 deps = ["LinearAlgebra", "SparseArrays", "SuiteSparse"]
@@ -687,9 +709,15 @@ uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0"
 version = "2.8.1"
 
 [[Pkg]]
-deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"]
+deps = ["Artifacts", "Dates", "Downloads", "FileWatching", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "Random", "SHA", "TOML", "Tar", "UUIDs", "p7zip_jll"]
 uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
-version = "1.10.0"
+version = "1.11.0"
+
+    [Pkg.extensions]
+    REPLExt = "REPL"
+
+    [Pkg.weakdeps]
+    REPL = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
 
 [[Polyester]]
 deps = ["ArrayInterface", "BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "ManualMemory", "PolyesterWeave", "Static", "StaticArrayInterface", "StrideArraysCore", "ThreadingUtilities"]
@@ -704,10 +732,10 @@ uuid = "1d0040c9-8b98-4ee7-8388-3f51789ca0ad"
 version = "0.2.2"
 
 [[Polynomials]]
-deps = ["LinearAlgebra", "RecipesBase", "Requires", "Setfield", "SparseArrays"]
-git-tree-sha1 = "1a9cfb2dc2c2f1bd63f1906d72af39a79b49b736"
+deps = ["LinearAlgebra", "OrderedCollections", "RecipesBase", "Requires", "Setfield", "SparseArrays"]
+git-tree-sha1 = "adc25dbd4d13f148f3256b6d4743fe7e63a71c4a"
 uuid = "f27b6e38-b328-58d1-80ce-0feddd5e7a45"
-version = "4.0.11"
+version = "4.0.12"
 
     [Polynomials.extensions]
     PolynomialsChainRulesCoreExt = "ChainRulesCore"
@@ -721,18 +749,6 @@ version = "4.0.11"
     MakieCore = "20f20a25-4f0e-4fdf-b5d1-57303727442b"
     MutableArithmetics = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
 
-[[PreallocationTools]]
-deps = ["Adapt", "ArrayInterface", "ForwardDiff"]
-git-tree-sha1 = "6c62ce45f268f3f958821a1e5192cf91c75ae89c"
-uuid = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
-version = "0.4.24"
-
-    [PreallocationTools.extensions]
-    PreallocationToolsReverseDiffExt = "ReverseDiff"
-
-    [PreallocationTools.weakdeps]
-    ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
-
 [[PrecompileTools]]
 deps = ["Preferences"]
 git-tree-sha1 = "5aa36f7049a63a1528fe8f7c3f2113413ffd4e1f"
@@ -745,9 +761,16 @@ git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
 version = "1.4.3"
 
+[[Primes]]
+deps = ["IntegerMathUtils"]
+git-tree-sha1 = "cb420f77dc474d23ee47ca8d14c90810cafe69e7"
+uuid = "27ebfcd6-29c5-5fa9-bf4b-fb8fc14df3ae"
+version = "0.5.6"
+
 [[Printf]]
 deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
+version = "1.11.0"
 
 [[PtrArrays]]
 git-tree-sha1 = "77a42d78b6a92df47ab37e177b2deac405e1c88f"
@@ -772,13 +795,10 @@ version = "2.11.1"
     [QuadGK.weakdeps]
     Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9"
 
-[[REPL]]
-deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"]
-uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb"
-
 [[Random]]
 deps = ["SHA"]
 uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
+version = "1.11.0"
 
 [[RecipesBase]]
 deps = ["PrecompileTools"]
@@ -788,9 +808,9 @@ version = "1.3.4"
 
 [[RecursiveArrayTools]]
 deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"]
-git-tree-sha1 = "6f4dca5fd8e97087a76b7ab8384d1c3086ace0b7"
+git-tree-sha1 = "32f824db4e5bab64e25a12b22483a30a6b813d08"
 uuid = "731186ca-8d62-57ce-b412-fbd966d074cd"
-version = "3.27.3"
+version = "3.27.4"
 
     [RecursiveArrayTools.extensions]
     RecursiveArrayToolsFastBroadcastExt = "FastBroadcast"
@@ -799,6 +819,7 @@ version = "3.27.3"
     RecursiveArrayToolsMonteCarloMeasurementsExt = "MonteCarloMeasurements"
     RecursiveArrayToolsReverseDiffExt = ["ReverseDiff", "Zygote"]
     RecursiveArrayToolsSparseArraysExt = ["SparseArrays"]
+    RecursiveArrayToolsStructArraysExt = "StructArrays"
     RecursiveArrayToolsTrackerExt = "Tracker"
     RecursiveArrayToolsZygoteExt = "Zygote"
 
@@ -809,6 +830,7 @@ version = "3.27.3"
     MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca"
     ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
     SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+    StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
     Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
     Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
 
@@ -852,9 +874,9 @@ version = "0.1.0"
 
 [[SciMLBase]]
 deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "Expronicon", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
-git-tree-sha1 = "f9195449e0ae7e8daf9d609c9619ecfc2369f62c"
+git-tree-sha1 = "3e5a9c5d6432b77a271646b4ada2573f239ac5c4"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.60.0"
+version = "2.70.0"
 
     [SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -888,12 +910,13 @@ weakdeps = ["SparseArrays", "StaticArraysCore"]
 
 [[SciMLStructures]]
 deps = ["ArrayInterface"]
-git-tree-sha1 = "25514a6f200219cd1073e4ff23a6324e4a7efe64"
+git-tree-sha1 = "0444a37a25fab98adbd90baa806ee492a3af133a"
 uuid = "53ae85a6-f571-4167-b2af-e1d143709226"
-version = "1.5.0"
+version = "1.6.1"
 
 [[Serialization]]
 uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
+version = "1.11.0"
 
 [[Setfield]]
 deps = ["ConstructionBase", "Future", "MacroTools", "StaticArraysCore"]
@@ -903,6 +926,7 @@ version = "1.1.1"
 
 [[Sockets]]
 uuid = "6462fe0b-24de-5631-8697-dd941f90decc"
+version = "1.11.0"
 
 [[SortingAlgorithms]]
 deps = ["DataStructures"]
@@ -913,13 +937,13 @@ version = "1.2.1"
 [[SparseArrays]]
 deps = ["Libdl", "LinearAlgebra", "Random", "Serialization", "SuiteSparse_jll"]
 uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
-version = "1.10.0"
+version = "1.11.0"
 
 [[SpecialFunctions]]
 deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"]
-git-tree-sha1 = "2f5d4697f21388cbe1ff299430dd169ef97d7e14"
+git-tree-sha1 = "64cca0c26b4f31ba18f13f6c12af7c85f478cfde"
 uuid = "276daf66-3868-5448-9aa4-cd146d93841b"
-version = "2.4.0"
+version = "2.5.0"
 weakdeps = ["ChainRulesCore"]
 
     [SpecialFunctions.extensions]
@@ -947,9 +971,9 @@ version = "1.8.0"
 
 [[StaticArrays]]
 deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"]
-git-tree-sha1 = "777657803913ffc7e8cc20f0fd04b634f871af8f"
+git-tree-sha1 = "47091a0340a675c738b1304b58161f3b0839d454"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.9.8"
+version = "1.9.10"
 weakdeps = ["ChainRulesCore", "Statistics"]
 
     [StaticArrays.extensions]
@@ -962,9 +986,14 @@ uuid = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
 version = "1.4.3"
 
 [[Statistics]]
-deps = ["LinearAlgebra", "SparseArrays"]
+deps = ["LinearAlgebra"]
+git-tree-sha1 = "ae3bb1eb3bba077cd276bc5cfc337cc65c3075c0"
 uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
-version = "1.10.0"
+version = "1.11.1"
+weakdeps = ["SparseArrays"]
+
+    [Statistics.extensions]
+    SparseArraysExt = ["SparseArrays"]
 
 [[StatsAPI]]
 deps = ["LinearAlgebra"]
@@ -973,10 +1002,10 @@ uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0"
 version = "1.7.0"
 
 [[StatsBase]]
-deps = ["DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
-git-tree-sha1 = "5cf7606d6cef84b543b483848d4ae08ad9832b21"
+deps = ["AliasTables", "DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
+git-tree-sha1 = "29321314c920c26684834965ec2ce0dacc9cf8e5"
 uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
-version = "0.34.3"
+version = "0.34.4"
 
 [[StatsFuns]]
 deps = ["HypergeometricFunctions", "IrrationalConstants", "LogExpFunctions", "Reexport", "Rmath", "SpecialFunctions"]
@@ -1002,51 +1031,69 @@ uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9"
 [[SuiteSparse_jll]]
 deps = ["Artifacts", "Libdl", "libblastrampoline_jll"]
 uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c"
-version = "7.2.1+1"
+version = "7.7.0+0"
 
 [[SymPy]]
-deps = ["CommonEq", "CommonSolve", "Latexify", "LinearAlgebra", "Markdown", "PyCall", "RecipesBase", "SpecialFunctions"]
-git-tree-sha1 = "181ff29b83f28436a3bd5d3388751c31473726ec"
+deps = ["CommonEq", "CommonSolve", "LinearAlgebra", "PyCall", "SpecialFunctions", "SymPyCore"]
+git-tree-sha1 = "83ff6b72182bab93d2ca0de10b11d5d89ce1c829"
 uuid = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6"
-version = "1.2.1"
-weakdeps = ["SymbolicUtils"]
+version = "2.2.1"
+
+[[SymPyCore]]
+deps = ["CommonEq", "CommonSolve", "Latexify", "LinearAlgebra", "Markdown", "RecipesBase", "SpecialFunctions"]
+git-tree-sha1 = "d9772eaf485a2d9353b6ecf7fa36f8d81cb523d5"
+uuid = "458b697b-88f0-4a86-b56b-78b75cfb3531"
+version = "0.2.7"
+weakdeps = ["TermInterface"]
 
-    [SymPy.extensions]
-    SymPySymbolicUtilsExt = "SymbolicUtils"
+    [SymPyCore.extensions]
+    SymPyCoreTermInterfaceExt = "TermInterface"
 
 [[SymbolicIndexingInterface]]
 deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArraysCore"]
-git-tree-sha1 = "6c6761e08bf5a270905cdd065be633abfa1b155b"
+git-tree-sha1 = "fd2d4f0499f6bb4a0d9f5030f5c7d61eed385e03"
 uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
-version = "0.3.35"
+version = "0.3.37"
 
 [[SymbolicLimits]]
 deps = ["SymbolicUtils"]
-git-tree-sha1 = "fb099adbd7504f1e68b4512828e9d94197a8b889"
+git-tree-sha1 = "fabf4650afe966a2ba646cabd924c3fd43577fc3"
 uuid = "19f23fe9-fdab-4a78-91af-e7b7767979c3"
-version = "0.2.1"
+version = "0.2.2"
 
 [[SymbolicUtils]]
-deps = ["AbstractTrees", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LabelledArrays", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TimerOutputs", "Unityper"]
-git-tree-sha1 = "c84ea9bcc9d527ba86ce08191cf561f35b48f9a0"
+deps = ["AbstractTrees", "ArrayInterface", "Bijections", "ChainRulesCore", "Combinatorics", "ConstructionBase", "DataStructures", "DocStringExtensions", "DynamicPolynomials", "IfElse", "LinearAlgebra", "MultivariatePolynomials", "NaNMath", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "TermInterface", "TimerOutputs", "Unityper", "WeakValueDicts"]
+git-tree-sha1 = "bca944105ac43be732e3bdc38e39a4ce17391137"
 uuid = "d1185830-fcd6-423d-90d6-eec64667417b"
-version = "1.7.1"
+version = "3.8.1"
+
+    [SymbolicUtils.extensions]
+    SymbolicUtilsLabelledArraysExt = "LabelledArrays"
+    SymbolicUtilsReverseDiffExt = "ReverseDiff"
+
+    [SymbolicUtils.weakdeps]
+    LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
+    ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
 
 [[Symbolics]]
-deps = ["ArrayInterface", "Bijections", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "ForwardDiff", "IfElse", "LaTeXStrings", "LambertW", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "PrecompileTools", "RecipesBase", "Reexport", "Requires", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils"]
-git-tree-sha1 = "4104548fff14d7370b278ee767651d6ec61eb195"
+deps = ["ADTypes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "Distributions", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "IfElse", "LaTeXStrings", "Latexify", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "NaNMath", "PrecompileTools", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
+git-tree-sha1 = "493c70c2a94a96dff97523afd2fb4ea7fd346b93"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "5.28.0"
+version = "6.22.1"
 
     [Symbolics.extensions]
+    SymbolicsForwardDiffExt = "ForwardDiff"
     SymbolicsGroebnerExt = "Groebner"
-    SymbolicsLuxCoreExt = "LuxCore"
-    SymbolicsPreallocationToolsExt = "PreallocationTools"
+    SymbolicsLuxExt = "Lux"
+    SymbolicsNemoExt = "Nemo"
+    SymbolicsPreallocationToolsExt = ["PreallocationTools", "ForwardDiff"]
     SymbolicsSymPyExt = "SymPy"
 
     [Symbolics.weakdeps]
+    ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
     Groebner = "0b43b601-686d-58a3-8a1c-6623616c7cd4"
-    LuxCore = "bb33d45b-7691-41d6-9220-0943567d0623"
+    Lux = "b2108857-7c20-44ae-9111-449ecde12c47"
+    Nemo = "2edaba10-b0f1-5616-af89-8c11ac63239a"
     PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
     SymPy = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6"
 
@@ -1072,9 +1119,15 @@ deps = ["ArgTools", "SHA"]
 uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e"
 version = "1.10.0"
 
+[[TermInterface]]
+git-tree-sha1 = "d673e0aca9e46a2f63720201f55cc7b3e7169b16"
+uuid = "8ea1fca8-c5ef-4a55-8b96-4e9afe9c9a3c"
+version = "2.0.0"
+
 [[Test]]
 deps = ["InteractiveUtils", "Logging", "Random", "Serialization"]
 uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+version = "1.11.0"
 
 [[ThreadingUtilities]]
 deps = ["ManualMemory"]
@@ -1084,16 +1137,18 @@ version = "0.5.2"
 
 [[TimerOutputs]]
 deps = ["ExprTools", "Printf"]
-git-tree-sha1 = "3a6f063d690135f5c1ba351412c82bae4d1402bf"
+git-tree-sha1 = "d7298ebdfa1654583468a487e8e83fae9d72dac3"
 uuid = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f"
-version = "0.5.25"
+version = "0.5.26"
 
 [[UUIDs]]
 deps = ["Random", "SHA"]
 uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4"
+version = "1.11.0"
 
 [[Unicode]]
 uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5"
+version = "1.11.0"
 
 [[Unityper]]
 deps = ["ConstructionBase"]
@@ -1106,6 +1161,11 @@ git-tree-sha1 = "58d6e80b4ee071f5efd07fda82cb9fbe17200868"
 uuid = "81def892-9a0e-5fdd-b105-ffc91e053289"
 version = "1.3.0"
 
+[[WeakValueDicts]]
+git-tree-sha1 = "98528c2610a5479f091d470967a25becfd83edd0"
+uuid = "897b6980-f191-5a31-bcb0-bf3c4585e0c1"
+version = "0.1.0"
+
 [[Zlib_jll]]
 deps = ["Libdl"]
 uuid = "83775a58-1f1d-513f-b197-d71354ab007a"
@@ -1119,7 +1179,7 @@ version = "5.11.0+0"
 [[nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
 uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
-version = "1.52.0+1"
+version = "1.59.0+0"
 
 [[oneTBB_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
diff --git a/Project.toml b/Project.toml
index b73653c..3bd58f6 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "SymbolicControlSystems"
 uuid = "886cb795-8fd3-4b11-92f6-8071e46f71c5"
 authors = ["Fredrik Bagge Carlson"]
-version = "0.1.6"
+version = "0.2.0"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
@@ -14,9 +14,9 @@ Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
 [compat]
 ControlSystemsBase = "1"
 Latexify = "0.14, 0.15, 0.16"
-SymPy = "1"
-Symbolics = "5"
-julia = "1.5"
+SymPy = "2"
+Symbolics = "6"
+julia = "1.10"
 
 [extras]
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
diff --git a/README.md b/README.md
index f2d03f9..fd277f1 100644
--- a/README.md
+++ b/README.md
@@ -18,10 +18,11 @@ Pkg.add(["ControlSystemsBase", "SymbolicControlSystems"])
 ```julia
 julia> using ControlSystemsBase, SymbolicControlSystems
 
-julia> @vars w T d # Define (SymPy) symbolic variables
+julia> @syms w T d # Define (SymPy) symbolic variables
 (w, T, d)
 
-julia> h = 0.01; # Sample time
+julia>
+ # Sample time
 
 julia> G = tf([w^2], [1, 2*d*w, w^2]) * tf(1, [T, 1])
 TransferFunction{Continuous, SisoRational{Sym}}
@@ -71,7 +72,7 @@ Discrete-time transfer function model
 Get a Latex-string
 ```julia
 julia> latextf(G)
-"\$\\dfrac{1.0w^2}{0.003s^3 + s^2(0.006dw + 1.0) + s(2.0dw + 0.003w^2) + 1.0w^2}\$"
+"\$\\dfrac{w^2}{Ts^3 + s^2(2Tdw + 1) + s(Tw^2 + 2dw) + w^2}\$"
 ```
 
 
@@ -85,7 +86,7 @@ A usage example follows
 ```julia
 using ControlSystemsBase, SymbolicControlSystems
 
-@vars w T d      # Define symbolic variables
+@syms w T d      # Define symbolic variables
 h        = 0.01  # Sample time
 G        = tf([w^2], [1, 2*d*w, w^2]) * tf(1, [T, 1])
 Gd       = tustin(G, h) # Discretize
diff --git a/src/SymbolicControlSystems.jl b/src/SymbolicControlSystems.jl
index 0456503..4fb2fe4 100644
--- a/src/SymbolicControlSystems.jl
+++ b/src/SymbolicControlSystems.jl
@@ -10,7 +10,7 @@ export sp,
     sym2num,
     latextf,
     Sym,
-    @vars,
+    @syms,
     simplify,
     tustin,
     doubleeuler,
@@ -21,21 +21,15 @@ export sp,
 
 # export symbolics2sym
 
-const sp = SymPy.PyCall.PyNULL()
+const sp = SymPy.sympy# SymPy.PyCall.PyNULL()
 const s = SymPy.Sym("s")
 const z = SymPy.Sym("z")
 
 const NumOrDiv = Union{Num, Symb.SymbolicUtils.Div, Symb.SymbolicUtils.BasicSymbolic}
 
 
-function __init__()
-    # global const s = Sym("s")
-    # global const z = Sym("z")
-    copy!(sp, SymPy.sympy)
-end
-
 
-function SymPy.Sym(sys::StateSpace{<:Any,Sym})
+function SymPy.Sym(sys::StateSpace{<:Any,<:Sym})
     A, B, C, D = ControlSystemsBase.ssdata(sys)
     expr = if isdiscrete(sys)
         (C*inv(z * I(size(A, 1)) - A)*B+D)
@@ -73,7 +67,7 @@ function Num(sys::TransferFunction)
     λ = λ[]
     num = sum(((i, t),) -> t * λ^(i-1), enumerate(reverse(numvec(sys)[]))) |> Symb.simplify
     den = sum(((i, t),) -> t * λ^(i-1), enumerate(reverse(denvec(sys)[]))) |> Symb.simplify
-    Symb.simplify(num/den)
+    num/den # |> Symb.simplify
 end
 
 """
@@ -116,7 +110,7 @@ function ControlSystemsBase.minreal(sys::TransferFunction{<:Any,<:ControlSystems
     Sym(sys) |> simplify |> tf
 end
 
-function ControlSystemsBase.tf(sys::StateSpace{<:Any,Sym})
+function ControlSystemsBase.tf(sys::StateSpace{<:Any,<:Sym})
     n, p = simplify.(sp.Poly.(simplify.(sp.fraction(simplify(Sym(sys)))), s))
     tf(simplify(n / p))
 end
@@ -129,7 +123,7 @@ function ControlSystemsBase.minreal(sys::StateSpace{<:Any,NumOrDiv})
     nsys = Symb.simplify_fractions.(nsys)
 end
 
-function ControlSystemsBase.minreal(sys::StateSpace{<:Any,Sym})
+function ControlSystemsBase.minreal(sys::StateSpace{<:Any,<:Sym})
     # sys |> Symb.Num .|> Symb.symbolics_to_sympy .|> sp.simplify
     nsys = Sym(sys)
     nsys = sp.simplify.(nsys)
@@ -170,7 +164,7 @@ end
 Replace symbols by numbers. `h` indicates the sample rate if the system is discrete.
 """
 function sym2num(P::Sym, h::Real, pairs::Pair...)
-    P.has(s) && error(
+    convert(Bool, P.has(s)) && error(
         "Found `z` in symbolic expression, provide sample time as second argument to `sym2num`",
     )
     for (sym, val) in pairs
@@ -194,10 +188,10 @@ Replace symbols by numbers.
 """
 function sym2num(P::Sym, pairs::Pair...)
     # for i = 1:2
-    P.has(z) && error(
+    convert(Bool, P.has(z)) && error(
         "Found `z` in symbolic expression, provide sample time as second argument to `sym2num`",
     )
-    P.has(s) || error("Found no `s` in symbolic expression, provide")
+    convert(Bool, P.has(s)) || error("Found no `s` in symbolic expression, provide")
     for (sym, val) in pairs
         P = subs(P, (sym, val))
     end
@@ -324,8 +318,8 @@ function ccode(G::TransferFunction; simplify = identity, cse = true, static=true
     numT = double ? "double" : "float"
     (G.nu == 1 && G.ny == 1) || throw(ArgumentError("C-code generation for transfer functions does not support multiple inputs or outputs, convert the transfer function to a statespace system using ss(G) and call ccode on that instead."))
     P = Sym(G)
-    P.has(z) || error("Did not find `z` in symbolic expression")
-    P.has(s) && error("Found `s` in symbolic expression, provide expression in `z`")
+    convert(Bool, P.has(z)) || error("Did not find `z` in symbolic expression")
+    convert(Bool, P.has(s)) && error("Found `s` in symbolic expression, provide expression in `z`")
     n, d = numvec(G)[], denvec(G)[]
     if d[1] != 1
         @info "Denominator polynomial not monic, dividing by the leading coefficient."
@@ -334,7 +328,7 @@ function ccode(G::TransferFunction; simplify = identity, cse = true, static=true
     end
     @info "Calling free_symbols"
     @info vars = P.free_symbols
-    vars.remove(z)
+    delete!(vars, z)
     vars = collect(vars)
     vars = sort(vars, by = string)
     var_str = ""
@@ -518,7 +512,7 @@ end
 Return a latex string representing `x`. If `mon`, then the denominator polynomial will be made monic (leading coefficient = 1).
 """
 function latextf(x::Sym, mon = false)
-    var = x.has(z) ? z : s
+    var = convert(Bool, x.has(z)) ? z : s
     n, d = sp.fraction(x)
     if mon
         n, d = monic(n, d)
diff --git a/test/runtests.jl b/test/runtests.jl
index 1a22e88..4b3f25f 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -57,7 +57,7 @@ end
         pol = 2z^3+4*z
         @test SymbolicControlSystems.expand_coeffs(pol, z) == [2,0,4,0]
 
-        @vars ω0
+        @syms ω0
         sys = ControlSystemsBase.DemoSystems.resonant(;ω0)
         ssys = Sym(sys)
         n, d = sp.fraction(simplify(ssys))
@@ -68,7 +68,7 @@ end
     @testset "SymPy: Sym -> tf and vice versa" begin
         @info "SymPy: Testing Sym -> tf and vice versa"
 
-        @vars a b c
+        @syms a b c
         @test_both tf([a], [b, c])  a/(b*s + c)
         @test_both tf([a], [b, c], 0.1)  a/(b*z + c)
 
@@ -99,7 +99,7 @@ end
 
     @testset "sym2num" begin
         @info "Testing sym2num"
-        @vars a b c
+        @syms a b c
         G = tf([a], [b, c]) 
         @test sym2num(G, a=>1, b=>1, c=>1) == tf(1,[1,1])
         @test sym2num(G, a=>1, b=>2, c=>1) == tf(1,[2,1])
@@ -121,15 +121,13 @@ end
         @test sym2num(G, 0.1, a=>1, b=>1, c=>1) == tf([1,1],[1,1,1], 0.1)
         @test sym2num(G, 0.1, a=>1, b=>2, c=>1) == tf([2,1],[1,1,1], 0.1)
         @test sym2num(G, 0.1, a=>1, b=>1, c=>2) == tf([1,1],[1,2,1], 0.1)
-
-        
         
     end
 
     @testset "Tustin and C-code" begin
         @info "Testing Tustin and C-code"
         
-        @vars J c
+        @syms J c
         G = tf(1.,[J^2,c,1])
         Gs = Sym(G)
         Gn = tf(1.,[1,1,1])
@@ -151,7 +149,7 @@ end
        
 
 
-        @vars w T d # Define symbolic variables
+        @syms w T d # Define symbolic variables
         h = 0.01
         G = tf([w^2], [1, 2*d*w, w^2]) * tf(1, [T, 1])
         Gd = tustin(G, h) # Discretize 
@@ -226,7 +224,7 @@ end
         @test norm(y-y_)/norm(y_) < 1e-10 # TODO: figure out why this is more sensitive
 
         ## Multiple inputs
-        @vars w T d # Define symbolic variables
+        @syms w T d # Define symbolic variables
         h = 0.01
         G = tf([w^2], [1, 2*d*w, w^2]) * tf(1, [T, 1])
         Gd = tustin(G, h) # Discretize 
@@ -317,7 +315,7 @@ end
             tf([a], [b, c])
         end
         Gsympy = let
-            @vars a b c s
+            @syms a b c s
             tf([a], [b, c])
         end