diff --git a/Project.toml b/Project.toml
index bf0edac7..024b55ed 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "ModelPredictiveControl"
 uuid = "61f9bdb8-6ae4-484a-811f-bbf86720c31c"
 authors = ["Francis Gagnon"]
-version = "1.3.1"
+version = "1.3.2"
 
 [deps]
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
diff --git a/src/controller/execute.jl b/src/controller/execute.jl
index 65aaa821..20537603 100644
--- a/src/controller/execute.jl
+++ b/src/controller/execute.jl
@@ -585,11 +585,11 @@ Call `savetime!(mpc.estim.model)` and return the time `t`.
 savetime!(mpc::PredictiveController) = savetime!(mpc.estim.model)
 
 """
-    periodsleep(mpc::PredictiveController) -> nothing
+    periodsleep(mpc::PredictiveController, busywait=false) -> nothing
 
 Call `periodsleep(mpc.estim.model)`.
 """
-periodsleep(mpc::PredictiveController) = periodsleep(mpc.estim.model)
+periodsleep(mpc::PredictiveController, busywait=false) = periodsleep(mpc.estim.model, busywait)
 
 """
     setstate!(mpc::PredictiveController, x̂) -> mpc
diff --git a/src/estimator/execute.jl b/src/estimator/execute.jl
index cd6cc160..e451f520 100644
--- a/src/estimator/execute.jl
+++ b/src/estimator/execute.jl
@@ -291,11 +291,11 @@ Call `savetime!(estim.model)` and return the time `t`.
 savetime!(estim::StateEstimator) = savetime!(estim.model)
 
 """
-    periodsleep(estim::StateEstimator) -> nothing
+    periodsleep(estim::StateEstimator, busywait=false) -> nothing
 
 Call `periodsleep(estim.model)`.
 """
-periodsleep(estim::StateEstimator) = periodsleep(estim.model)
+periodsleep(estim::StateEstimator, busywait=false) = periodsleep(estim.model, busywait)
 
 
 """
diff --git a/test/0_test_module.jl b/test/0_test_module.jl
new file mode 100644
index 00000000..134060ac
--- /dev/null
+++ b/test/0_test_module.jl
@@ -0,0 +1,10 @@
+@testmodule SetupMPCtests begin
+    using ControlSystemsBase
+    Ts = 400.0
+    sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
+            tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
+    sys_ss = minreal(ss(sys))
+    Gss = c2d(sys_ss[:,1:2], Ts, :zoh)
+    Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
+    export Ts, sys, sys_ss, Gss, Gss2
+end
\ No newline at end of file
diff --git a/test/test_sim_model.jl b/test/1_test_sim_model.jl
similarity index 95%
rename from test/test_sim_model.jl
rename to test/1_test_sim_model.jl
index 24fc3586..d0f1cd12 100644
--- a/test/test_sim_model.jl
+++ b/test/1_test_sim_model.jl
@@ -1,4 +1,5 @@
 @testitem "LinModel construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys, Ts, i_u=1:2)
     @test linmodel1.nx == 2
     @test linmodel1.nu == 2
@@ -97,6 +98,7 @@
 end
 
 @testitem "LinModel sim methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase
     linmodel1 = setop!(LinModel(Gss), uop=[10,50], yop=[50,30])
     @test updatestate!(linmodel1, [10, 50]) ≈ zeros(2)
     @test updatestate!(linmodel1, [10, 50], Float64[]) ≈ zeros(2)
@@ -117,25 +119,27 @@ end
 end
 
 @testitem "LinModel real time simulations" setup=[SetupMPCtests] begin
-    linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    linmodel1 = LinModel(tf(2, [10, 1]), 0.25)
     times1 = zeros(5)
     for i=1:5
         times1[i] = savetime!(linmodel1)
         updatestate!(linmodel1, [1])
         periodsleep(linmodel1)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
-    linmodel2 = LinModel(tf(2, [0.1, 1]), 0.001)
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.01))
+    linmodel2 = LinModel(tf(2, [0.1, 1]), 0.25)
     times2 = zeros(5)
     for i=1:5
         times2[i] = savetime!(linmodel2)
         updatestate!(linmodel2, [1])
         periodsleep(linmodel2, true)
     end
-    @test all(isapprox.(diff(times2[2:end]), 0.001, atol=0.0001))
+    @test all(isapprox.(diff(times2[2:end]), 0.25, atol=0.0001))
 end
 
 @testitem "NonLinModel construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     f1(x,u,_,model) = model.A*x + model.Bu*u
     h1(x,_,model)   = model.C*x
@@ -243,6 +247,7 @@ end
 end
 
 @testitem "NonLinModel sim methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     f1(x,u,_,model) = model.A*x + model.Bu*u
     h1(x,_,model)   = model.C*x
@@ -262,6 +267,7 @@ end
 end
 
 @testitem "NonLinModel linearization" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     Ts = 1.0
     f1(x,u,d,_) = x.^5 + u.^4 + d.^3
     h1(x,d,_)   = x.^2 + d
@@ -317,6 +323,7 @@ end
 end
 
 @testitem "NonLinModel real time simulations" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
     nonlinmodel1 = NonLinModel(
         (x,u,_,_)->linmodel1.A*x + linmodel1.Bu*u,
diff --git a/test/test_state_estim.jl b/test/2_test_state_estim.jl
similarity index 96%
rename from test/test_state_estim.jl
rename to test/2_test_state_estim.jl
index c56a2f9e..3d83166f 100644
--- a/test/test_state_estim.jl
+++ b/test/2_test_state_estim.jl
@@ -1,4 +1,5 @@
 @testitem "SteadyKalmanFilter construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     skalmanfilter1 = SteadyKalmanFilter(linmodel1)
     @test skalmanfilter1.nym == 2
@@ -61,6 +62,7 @@
 end
 
 @testitem "SteadyKalmanFilter estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     skalmanfilter1 = SteadyKalmanFilter(linmodel1, nint_ym=[1, 1])
     preparestate!(skalmanfilter1, [50, 30])
@@ -112,6 +114,7 @@ end
 end 
 
 @testitem "SteadyKalmanFilter set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     skalmanfilter = SteadyKalmanFilter(linmodel, nint_ym=0)
@@ -122,19 +125,21 @@ end
 end
 
 @testitem "SteadyKalmanFilter real-time simulations" setup=[SetupMPCtests] begin
-    linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    linmodel1 = LinModel(tf(2, [10, 1]), 0.25)
     skalmanfilter1 = SteadyKalmanFilter(linmodel1)
     times1 = zeros(5)
     for i=1:5
         times1[i] = savetime!(skalmanfilter1)
         preparestate!(skalmanfilter1, [1])
         updatestate!(skalmanfilter1, [1], [1])
-        periodsleep(skalmanfilter1)
+        periodsleep(skalmanfilter1, true)
     end
-    @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
+    @test all(isapprox.(diff(times1[2:end]), 0.25, atol=0.01))
 end
     
 @testitem "KalmanFilter construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     kalmanfilter1 = KalmanFilter(linmodel1)
     @test kalmanfilter1.nym == 2
@@ -186,6 +191,7 @@ end
 end
 
 @testitem "KalmanFilter estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     kalmanfilter1 = KalmanFilter(linmodel1)
     preparestate!(kalmanfilter1, [50, 30])
@@ -232,6 +238,7 @@ end
 end
 
 @testitem "KalmanFilter set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     kalmanfilter = KalmanFilter(linmodel, nint_ym=0)
@@ -260,6 +267,7 @@ end
 end
 
 @testitem "Luenberger construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     lo1 = Luenberger(linmodel1)
     @test lo1.nym == 2
@@ -300,6 +308,7 @@ end
 end
     
 @testitem "Luenberger estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     lo1 = Luenberger(linmodel1, nint_ym=[1, 1])
     preparestate!(lo1, [50, 30])
@@ -345,6 +354,7 @@ end
 end
 
 @testitem "Luenberger set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     lo = Luenberger(linmodel, nint_ym=0)
@@ -353,6 +363,7 @@ end
 end
 
 @testitem "InternalModel construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     internalmodel1 = InternalModel(linmodel1)
     @test internalmodel1.nym == 2
@@ -422,6 +433,7 @@ end
 end    
     
 @testitem "InternalModel estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]) , uop=[10,50], yop=[50,30])
     internalmodel1 = InternalModel(linmodel1)
     preparestate!(internalmodel1, [50, 30] .+ 1)
@@ -459,6 +471,7 @@ end
 end
 
 @testitem "InternalModel set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     internalmodel = InternalModel(linmodel)
@@ -484,6 +497,7 @@ end
 end
  
 @testitem "UnscentedKalmanFilter construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     f(x,u,d,_) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
     h(x,d,_)   = linmodel1.C*x + linmodel1.Du*d
@@ -541,6 +555,7 @@ end
 end
 
 @testitem "UnscentedKalmanFilter estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     f(x,u,_,_) = linmodel1.A*x + linmodel1.Bu*u
     h(x,_,_)   = linmodel1.C*x
@@ -589,6 +604,7 @@ end
 end
 
 @testitem "UnscentedKalmanFilter set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     ukf1 = UnscentedKalmanFilter(linmodel, nint_ym=0)
@@ -625,6 +641,7 @@ end
 end
 
 @testitem "ExtendedKalmanFilter construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     f(x,u,d,_) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
     h(x,d,_)   = linmodel1.C*x + linmodel1.Du*d
@@ -678,6 +695,7 @@ end
 end
 
 @testitem "ExtendedKalmanFilter estimator methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_u=[1,2])
     f(x,u,_,_) = linmodel1.A*x + linmodel1.Bu*u
     h(x,_,_)   = linmodel1.C*x
@@ -726,6 +744,7 @@ end
 end
 
 @testitem "ExtendedKalmanFilter set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     ekf1 = ExtendedKalmanFilter(linmodel, nint_ym=0)
@@ -762,6 +781,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     f(x,u,d,_) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
     h(x,d,_)   = linmodel1.C*x + linmodel1.Du*d
@@ -843,6 +863,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator estimation and getinfo" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt, ForwardDiff
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2], i_d=[3]), uop=[10,50], yop=[50,30], dop=[5])
     f(x,u,d,_) = linmodel1.A*x + linmodel1.Bu*u + linmodel1.Bd*d
     h(x,d,_)   = linmodel1.C*x + linmodel1.Dd*d
@@ -935,12 +956,12 @@ end
         preparestate!(mhe2, [50, 30], [5])
         updatestate!(mhe2, [11, 52], [50, 30], [5])
     end
-    @test mhe2([5]) ≈ [50, 30] atol=1e-3
+    @test mhe2([5]) ≈ [50, 30] atol=1e-2
     for i in 1:40
         preparestate!(mhe2, [51, 32], [5])
         updatestate!(mhe2, [10, 50], [51, 32], [5])
     end
-    @test mhe2([5]) ≈ [51, 32] atol=1e-3
+    @test mhe2([5]) ≈ [51, 32] atol=1e-2
     linmodel3 = LinModel{Float32}(0.5*ones(1,1), ones(1,1), ones(1,1), zeros(1,0), zeros(1,0), 1.0)
     mhe3 = MovingHorizonEstimator(linmodel3, He=1)
     preparestate!(mhe3, [0])
@@ -973,6 +994,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator fallbacks for arrival covariance estimation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(sys,Ts,i_u=[1,2], i_d=[3]), uop=[10,50], yop=[50,30], dop=[5])
     f(x,u,d,_) = linmodel.A*x + linmodel.Bu*u + linmodel.Bd*d
     h(x,d,_)   = linmodel.C*x + linmodel.Dd*d
@@ -1017,6 +1039,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator set constraints" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     mhe1 = MovingHorizonEstimator(linmodel1, He=1, nint_ym=0, Cwt=1e3)
     setconstraint!(mhe1, x̂min=[-51,-52], x̂max=[53,54])
@@ -1098,6 +1121,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator constraint violation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     mhe = MovingHorizonEstimator(linmodel1, He=1, nint_ym=0)
 
@@ -1196,6 +1220,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = LinModel(ss(0.5, 0.3, 1.0, 0, 10.0))
     linmodel = setop!(linmodel, uop=[2.0], yop=[50.0], xop=[3.0], fop=[3.0])
     mhe = MovingHorizonEstimator(linmodel, He=1, nint_ym=0, direct=false)
@@ -1240,6 +1265,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator v.s. Kalman filters" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_d=[3]), uop=[10,50], yop=[50,30], dop=[20])
     mhe = MovingHorizonEstimator(linmodel1, He=3, nint_ym=0, direct=false)
     kf  = KalmanFilter(linmodel1, nint_ym=0, direct=false)
@@ -1316,6 +1342,7 @@ end
 end
 
 @testitem "MovingHorizonEstimator LinModel v.s. NonLinModel" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt
     linmodel = setop!(LinModel(sys,Ts,i_d=[3]), uop=[10,50], yop=[50,30], dop=[20])
     f = (x,u,d,_) -> linmodel.A*x + linmodel.Bu*u + linmodel.Bd*d
     h = (x,d,_)   -> linmodel.C*x + linmodel.Dd*d
diff --git a/test/test_predictive_control.jl b/test/3_test_predictive_control.jl
similarity index 95%
rename from test/test_predictive_control.jl
rename to test/3_test_predictive_control.jl
index ed6145aa..89047f71 100644
--- a/test/test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -1,4 +1,5 @@
 @testitem "LinMPC construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, DAQP
     model = LinModel(sys, Ts, i_d=[3])
     mpc1 = LinMPC(model, Hp=15)
     @test isa(mpc1.estim, SteadyKalmanFilter)
@@ -55,6 +56,8 @@
 end
 
 @testitem "LinMPC moves and getinfo" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(tf(5, [2, 1]), 3), yop=[10])
     mpc1 = LinMPC(linmodel, Nwt=[0], Hp=1000, Hc=1)
     r = [15]
@@ -88,6 +91,7 @@ end
 end
 
 @testitem "LinMPC step disturbance rejection" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(tf(5, [2, 1]), 3.0), yop=[10])
     r = [15]
     outdist = [5]
@@ -130,6 +134,7 @@ end
 end
 
 @testitem "LinMPC other methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     mpc1 = LinMPC(linmodel1)
     @test initstate!(mpc1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
@@ -148,6 +153,7 @@ end
 end
 
 @testitem "LinMPC set constraints" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(sys, Ts, i_d=[3])
     mpc = LinMPC(model, Hp=1, Hc=1)
 
@@ -215,6 +221,7 @@ end
 end
 
 @testitem "LinMPC constraint violation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(tf([2], [10, 1]), 3.0)
     mpc = LinMPC(model, Hp=50, Hc=5)
 
@@ -273,6 +280,7 @@ end
 end
 
 @testitem "LinMPC terminal cost" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(ss([0.5 -0.4;0.6 0.5], [1 0;0 1], [1 0; 0 1], 0, 1))
     K = lqr(Discrete, model.A, model.Bu, I, 0.5I)
     M_end = ControlSystemsBase.are(Discrete, model.A, model.Bu, I, 0.5I)
@@ -300,6 +308,7 @@ end
 end
 
 @testitem "LinMPC set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     estim = KalmanFilter(setop!(LinModel(tf(5, [2, 1]), 3), yop=[10], uop=[1]))
     mpc = LinMPC(estim, Nwt=[0], Cwt=1e4, Hp=1000, Hc=1)
     mpc = setconstraint!(mpc, umin=[-24], umax=[26])
@@ -339,6 +348,7 @@ end
 end
 
 @testitem "LinMPC real-time simulations" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(tf(2, [10, 1]), 0.1)
     mpc1 = LinMPC(linmodel1)
     times1 = zeros(5)
@@ -346,12 +356,13 @@ end
         times1[i] = savetime!(mpc1)
         preparestate!(mpc1, [1])
         updatestate!(mpc1, [1], [1])
-        periodsleep(mpc1)
+        periodsleep(mpc1, true)
     end
     @test all(isapprox.(diff(times1[2:end]), 0.1, atol=0.01))
 end
 
 @testitem "ExplicitMPC construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(sys, Ts, i_d=[3])
     mpc1 = ExplicitMPC(model, Hp=15)
     @test isa(mpc1.estim, SteadyKalmanFilter)
@@ -382,6 +393,7 @@ end
 end
 
 @testitem "ExplicitMPC moves and getinfo" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     mpc1 = ExplicitMPC(LinModel(tf(5, [2, 1]), 3), Nwt=[0], Hp=1000, Hc=1)
     r = [5]
     preparestate!(mpc1, [0])
@@ -409,6 +421,7 @@ end
 
 
 @testitem "ExplicitMPC step disturbance rejection" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(tf(5, [2, 1]), 3.0), yop=[10])
     r = [15]
     outdist = [5]
@@ -451,6 +464,7 @@ end
 end
 
 @testitem "ExplicitMPC other methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     mpc1 = ExplicitMPC(linmodel1)
     @test initstate!(mpc1, [10, 50], [50, 30+1]) ≈ [zeros(3); [1]]
@@ -465,12 +479,14 @@ end
 end
 
 @testitem "ExplicitMPC constraints" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(sys, Ts, i_d=[3])
     mpc = ExplicitMPC(model, Hp=1, Hc=1)
     @test_throws ErrorException setconstraint!(mpc, umin=[0.0, 0.0])
 end
 
 @testitem "ExplicitMPC set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     estim = KalmanFilter(setop!(LinModel(tf(5, [2, 1]), 3), yop=[10], uop=[1]))
     mpc = ExplicitMPC(estim, Nwt=[0], Hp=1000, Hc=1)
     @test mpc.Yop ≈ fill(10.0, 1000)
@@ -500,6 +516,7 @@ end
 end
 
 @testitem "NonLinMPC construction" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     nmpc0 = NonLinMPC(linmodel1, Hp=15)
     @test isa(nmpc0.estim, SteadyKalmanFilter)
@@ -563,6 +580,7 @@ end
 end
 
 @testitem "NonLinMPC moves and getinfo" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, ForwardDiff
     linmodel = setop!(LinModel(tf(5, [2000, 1]), 3000.0), yop=[10])
     Hp = 1000
     nmpc_lin = NonLinMPC(linmodel, Nwt=[0], Hp=Hp, Hc=1)
@@ -635,6 +653,7 @@ end
 end
 
 @testitem "NonLinMPC step disturbance rejection" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(tf(5, [2000, 1]), 3000.0), yop=[10])
     r = [15]
     outdist = [5]
@@ -677,6 +696,7 @@ end
 end
 
 @testitem "NonLinMPC other methods" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel = setop!(LinModel(sys,Ts,i_u=[1,2]), uop=[10,50], yop=[50,30])
     f = (x,u,_,_) -> linmodel.A*x + linmodel.Bu*u
     h = (x,_,_)   -> linmodel.C*x
@@ -694,6 +714,7 @@ end
 end
 
 @testitem "NonLinMPC set constraints" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     linmodel1 = LinModel(sys,Ts,i_d=[3])
     nmpc_lin = NonLinMPC(linmodel1, Hp=1, Hc=1)
 
@@ -729,6 +750,7 @@ end
 end
 
 @testitem "NonLinMPC constraint violation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     gc(Ue, Ŷe, _ ,p , ϵ) = [p[1]*(Ue[1:end-1] .- 4.2 .- ϵ); p[2]*(Ŷe[2:end] .- 3.14 .- ϵ)]
     Hp=50
 
@@ -737,7 +759,7 @@ end
 
     setconstraint!(nmpc_lin, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
     setconstraint!(nmpc_lin, umin=[-10], umax=[10])
-    setconstraint!(nmpc_lin, Δumin=[-15], Δumax=[15])
+    setconstraint!(nmpc_lin, Δumin=[-1e6], Δumax=[1e6])
     setconstraint!(nmpc_lin, ymin=[-100], ymax=[100])
     preparestate!(nmpc_lin, [0])
 
@@ -805,8 +827,8 @@ end
     nonlinmodel = NonLinModel(f, h, linmodel.Ts, 1, 1, 1, solver=nothing, p=linmodel)
     nmpc = NonLinMPC(nonlinmodel, Hp=50, Hc=5, gc=gc, nc=2Hp, p=[0; 0])
 
-    setconstraint!(nmpc, x̂min=[-1e6,-Inf], x̂max=[1e6,+Inf])
-    setconstraint!(nmpc, umin=[-10], umax=[10])
+    setconstraint!(nmpc, x̂min=[-1e6,-Inf], x̂max=[+1e6,+Inf])
+    setconstraint!(nmpc, umin=[-1e6], umax=[+1e6])
     setconstraint!(nmpc, Δumin=[-15], Δumax=[15])
     setconstraint!(nmpc, ymin=[-100], ymax=[100])
     preparestate!(nmpc, [0])
@@ -818,7 +840,7 @@ end
     moveinput!(nmpc, [100])
     info = getinfo(nmpc)
     @test all(isapprox.(info[:U], 4; atol=1e-1))
-    setconstraint!(nmpc, umin=[-10], umax=[10])
+    setconstraint!(nmpc, umin=[-1e6], umax=[+1e6])
 
     setconstraint!(nmpc, Δumin=[-1.5], Δumax=[1.25])
     moveinput!(nmpc, [-100])
@@ -827,7 +849,7 @@ end
     moveinput!(nmpc, [100])
     info = getinfo(nmpc)
     @test all(isapprox.(info[:ΔU], 1.25; atol=1e-1))
-    setconstraint!(nmpc, Δumin=[-15], Δumax=[15])
+    setconstraint!(nmpc, Δumin=[-1e6], Δumax=[+1e6])
 
     setconstraint!(nmpc, ymin=[-0.5], ymax=[0.9])
     moveinput!(nmpc, [-100])
@@ -839,13 +861,13 @@ end
     setconstraint!(nmpc, ymin=[-100], ymax=[100])
 
     setconstraint!(nmpc, Ymin=[-0.5; fill(-100, Hp-1)], Ymax=[0.9; fill(+100, Hp-1)])
-    moveinput!(nmpc, [-10])
+    moveinput!(nmpc, [-200])
     info = getinfo(nmpc)
-    @test info[:Ŷ][end]   ≈ -10  atol=1e-1
+    @test info[:Ŷ][end]   ≈ -100  atol=1e-1
     @test info[:Ŷ][begin] ≈ -0.5 atol=1e-1
-    moveinput!(nmpc, [10])
+    moveinput!(nmpc, [200])
     info = getinfo(nmpc)
-    @test info[:Ŷ][end]   ≈ 10  atol=1e-1
+    @test info[:Ŷ][end]   ≈ 100  atol=1e-1
     @test info[:Ŷ][begin] ≈ 0.9 atol=1e-1
     setconstraint!(nmpc, ymin=[-100], ymax=[100])
     
@@ -873,6 +895,7 @@ end
 end
 
 @testitem "NonLinMPC set model" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     estim = KalmanFilter(setop!(LinModel(tf(5, [200, 1]), 300), yop=[10], uop=[1]))
     mpc = NonLinMPC(estim, Nwt=[0], Cwt=1e4, Hp=1000, Hc=1)
     mpc = setconstraint!(mpc, umin=[-24], umax=[26])
@@ -925,6 +948,7 @@ end
 end
 
 @testitem "LinMPC v.s. NonLinMPC" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, JuMP, Ipopt
     linmodel = setop!(LinModel(sys,Ts,i_d=[3]), uop=[10,50], yop=[50,30], dop=[20])
     f = (x,u,d,_) -> linmodel.A*x + linmodel.Bu*u + linmodel.Bd*d
     h = (x,d,_)   -> linmodel.C*x + linmodel.Dd*d
diff --git a/test/test_plot_sim.jl b/test/4_test_plot_sim.jl
similarity index 96%
rename from test/test_plot_sim.jl
rename to test/4_test_plot_sim.jl
index dac5e971..93427ed0 100644
--- a/test/test_plot_sim.jl
+++ b/test/4_test_plot_sim.jl
@@ -1,4 +1,5 @@
 @testitem "SimModel quick simulation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     model = LinModel(sys, Ts, i_d=[3])
     res = sim!(model, 15)
     display(res)
@@ -18,6 +19,7 @@
 end
 
 @testitem "SimModel Plots" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, Plots
     model = LinModel(sys, Ts, i_d=[3])
     res = sim!(model, 15, [1, 3], [-10])
     p = plot(res, plotx=true)
@@ -42,6 +44,7 @@ end
 end
 
 @testitem "StateEstimator quick simulation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     estim = SteadyKalmanFilter(LinModel(sys, Ts, i_d=[3]))
     res = sim!(estim, 15)
     @test isa(res.obj, SteadyKalmanFilter)
@@ -64,6 +67,7 @@ end
 end
 
 @testitem "StateEstimator Plots" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, Plots
     estim = MovingHorizonEstimator(LinModel(sys, Ts, i_d=[3]), He=5)
     estim = setconstraint!(estim, x̂min=[-100,-101,-102,-103,-Inf,-Inf])
     estim = setconstraint!(estim, x̂max=[+100,+101,+102,+103,+Inf,+Inf])
@@ -121,6 +125,7 @@ end
 end
 
 @testitem "PredictiveController quick simulation" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra
     mpc1 = LinMPC(LinModel(sys, Ts, i_d=[3]))
     res = sim!(mpc1, 15)
     @test isa(res.obj, LinMPC)
@@ -155,6 +160,7 @@ end
 end
 
 @testitem "PredictiveController Plots" setup=[SetupMPCtests] begin
+    using .SetupMPCtests, ControlSystemsBase, LinearAlgebra, Plots
     estim = MovingHorizonEstimator(LinModel(sys, Ts, i_d=[3]), He=5)
     estim = setconstraint!(estim, x̂min=[-100,-101,-102,-103,-104,-105])
     estim = setconstraint!(estim, x̂max=[+100,+101,+102,+103,+104,+105])
diff --git a/test/runtests.jl b/test/runtests.jl
index c2efcd98..8b7ecf40 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -11,26 +11,11 @@ using Test, TestItemRunner
 
 @run_package_tests 
 
-#@testitem "ModelPredictiveControl.jl" begin
-
-@testsnippet SetupMPCtests begin
-    using ControlSystemsBase, LinearAlgebra
-    using Random: randn
-    using JuMP, OSQP, Ipopt, DAQP, ForwardDiff
-    using Plots
-    Ts = 400.0
-    sys = [ tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1])   tf(1.90,[1800.0,1]);
-            tf(-0.74,[800.0,1])   tf(0.74,[800.0,1])    tf(-0.74,[800.0,1])   ] 
-    sys_ss = minreal(ss(sys))
-    Gss = c2d(sys_ss[:,1:2], Ts, :zoh)
-    Gss2 = c2d(sys_ss[:,1:2], 0.5Ts, :zoh)
-end
-
-
-include("test_sim_model.jl")
-include("test_state_estim.jl")
-include("test_predictive_control.jl")
-include("test_plot_sim.jl")
+include("0_test_module.jl")
+include("1_test_sim_model.jl")
+include("2_test_state_estim.jl")
+include("3_test_predictive_control.jl")
+include("4_test_plot_sim.jl")
 
 old_debug_level = get(ENV, "JULIA_DEBUG", "")
 DocMeta.setdocmeta!(
@@ -46,6 +31,4 @@ DocMeta.setdocmeta!(
 doctest(ModelPredictiveControl, testset="DocTest")
 ENV["JULIA_DEBUG"] = old_debug_level
 
-#end;
-
 nothing
\ No newline at end of file