diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..f5ab5b8
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,15 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="PyCompatibilityInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ourVersions">
+        <value>
+          <list size="2">
+            <item index="0" class="java.lang.String" itemvalue="3.9" />
+            <item index="1" class="java.lang.String" itemvalue="3.11" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..ab3a55d
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.12 (mpc_python12)" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12 (mpc_python12)" project-jdk-type="Python SDK" />
+  <component name="PythonCompatibilityInspectionAdvertiser">
+    <option name="version" value="3" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..2fb2556
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/mpc_python.iml" filepath="$PROJECT_DIR$/.idea/mpc_python.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/mpc_python.iml b/.idea/mpc_python.iml
new file mode 100644
index 0000000..149f85d
--- /dev/null
+++ b/.idea/mpc_python.iml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.12 (mpc_python12)" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/README.md b/README.md
index 934971b..02a1a3d 100644
--- a/README.md
+++ b/README.md
@@ -9,12 +9,12 @@ This mainly uses **[CVXPY](https://www.cvxpy.org/)** as a framework. This repo c
 
 * To run the pybullet demo:
 ```bash
-python3 mpc_demo_pybullet.py
+python3 ./mpc_pybullet_demo/mpc_demo_pybullet.py
 ```
 
 * To run the simulation-less demo (simpler demo that does not use pybullet, useful for debugging):
 ```bash
-python3 mpc_demo_pybullet.py
+python3 ./mpc_pybullet_demo/mpc_demo_nosim.py
 ```
 
 In both cases the script will promt the user for `enter` before starting the demo.
diff --git a/notebooks/1.0-lti-system-modelling.ipynb b/notebooks/1.0-lti-system-modelling.ipynb
index e1f28c7..01fe395 100644
--- a/notebooks/1.0-lti-system-modelling.ipynb
+++ b/notebooks/1.0-lti-system-modelling.ipynb
@@ -11,9 +11,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
-   "metadata": {},
-   "outputs": [],
+   "execution_count": 2,
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-10-22T08:05:56.118290Z",
+     "start_time": "2024-10-22T08:05:46.550696Z"
+    }
+   },
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "Matplotlib is building the font cache; this may take a moment.\n"
+     ]
+    }
+   ],
    "source": [
     "import numpy as np\n",
     "from scipy.integrate import odeint\n",
@@ -177,8 +190,13 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
+   "execution_count": 3,
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-10-22T08:06:14.547915Z",
+     "start_time": "2024-10-22T08:06:14.544585Z"
+    }
+   },
    "outputs": [],
    "source": [
     "# Define process model\n",
@@ -220,15 +238,23 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
-   "metadata": {},
+   "execution_count": 4,
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-10-22T08:06:17.956990Z",
+     "start_time": "2024-10-22T08:06:17.847071Z"
+    }
+   },
    "outputs": [
     {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "CPU times: user 3.39 ms, sys: 0 ns, total: 3.39 ms\n",
-      "Wall time: 2.79 ms\n"
+     "ename": "NameError",
+     "evalue": "name 'M' is not defined",
+     "output_type": "error",
+     "traceback": [
+      "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
+      "\u001B[0;31mNameError\u001B[0m                                 Traceback (most recent call last)",
+      "File \u001B[0;32m<timed exec>:1\u001B[0m\n",
+      "\u001B[0;31mNameError\u001B[0m: name 'M' is not defined"
      ]
     }
    ],
@@ -443,9 +469,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python [conda env:.conda-jupyter] *",
+   "name": "python3",
    "language": "python",
-   "name": "conda-env-.conda-jupyter-py"
+   "display_name": "Python 3 (ipykernel)"
   },
   "language_info": {
    "codemirror_mode": {
diff --git a/requirements.txt b/requirements.txt
index cc5f71f..1698f94 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,6 @@
-pybullet==2.7.2
-cvxpy==1.0.28
+pybullet>=2.7.2
+cvxpy>=1.0.28
 dccp
 numpy>=1.22
-osqp==0.6.1
-scipy==1.10.0
+osqp>=0.6.1
+scipy>=1.10.0