diff --git a/src/controller/construct.jl b/src/controller/construct.jl
index b1a661995..406cdce61 100644
--- a/src/controller/construct.jl
+++ b/src/controller/construct.jl
@@ -262,7 +262,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
   │ ├  0 unmeasured outputs yu
   │ └  0 measured disturbances d
   └ optimization:
-    ├  3 decision variables Z̃ (1 slack variable)
+    ├  3 decision variables Z̃ (1 slack variable, 5 bounds)
     ├ 20 linear inequality constraints A (0 custom)
     └  0 linear equality constraints Aeq
 ```
diff --git a/src/controller/linmpc.jl b/src/controller/linmpc.jl
index 27730d919..1298c41d9 100644
--- a/src/controller/linmpc.jl
+++ b/src/controller/linmpc.jl
@@ -191,7 +191,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
   │ ├  0 unmeasured outputs yu
   │ └  0 measured disturbances d
   └ optimization:
-    ├ 2 decision variables Z̃ (1 slack variable)
+    ├ 2 decision variables Z̃ (1 slack variable, 1 bounds)
     ├ 0 linear inequality constraints A (0 custom)
     └ 0 linear equality constraints Aeq
 ```
@@ -281,7 +281,7 @@ LinMPC controller with a sample time Ts = 4.0 s:
   │ ├  1 unmeasured outputs yu
   │ └  0 measured disturbances d
   └ optimization:
-    ├ 2 decision variables Z̃ (1 slack variable)
+    ├ 2 decision variables Z̃ (1 slack variable, 1 bounds)
     ├ 0 linear inequality constraints A (0 custom)
     └ 0 linear equality constraints Aeq
 ```
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
index 46517963a..33c81c96d 100644
--- a/src/controller/nonlinmpc.jl
+++ b/src/controller/nonlinmpc.jl
@@ -261,7 +261,7 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
   │ ├  0 unmeasured outputs yu
   │ └  0 measured disturbances d
   └ optimization:
-    ├ 51 decision variables Z̃ (1 slack variable)
+    ├ 51 decision variables Z̃ (1 slack variable, 1 bounds)
     ├  0 linear inequality constraints A (0 custom)
     ├ 20 linear equality constraints Aeq
     ├  0 nonlinear inequality constraints g (0 custom)
@@ -391,7 +391,7 @@ julia> model = NonLinModel((x,u,_,_)->0.5x+u, (x,_,_)->2x, 10.0, 1, 1, 1, solver
 
 julia> estim = UnscentedKalmanFilter(model, σQint_ym=[0.05]);
 
-julia> mpc = NonLinMPC(estim, Hp=20, Cwt=1e6)
+julia> mpc = NonLinMPC(estim, Hp=20, Cwt=1e4)
 NonLinMPC controller with a sample time Ts = 10.0 s:
 ├ estimator: UnscentedKalmanFilter
 ├ model: NonLinModel
@@ -409,7 +409,7 @@ NonLinMPC controller with a sample time Ts = 10.0 s:
   │ ├  0 unmeasured outputs yu
   │ └  0 measured disturbances d
   └ optimization:
-    ├ 3 decision variables Z̃ (1 slack variable)
+    ├ 3 decision variables Z̃ (1 slack variable, 1 bounds)
     ├ 0 linear inequality constraints A (0 custom)
     ├ 0 linear equality constraints Aeq
     ├ 0 nonlinear inequality constraints g (0 custom)
diff --git a/src/estimator/mhe/construct.jl b/src/estimator/mhe/construct.jl
index 07b13ab7c..b7f6856cf 100644
--- a/src/estimator/mhe/construct.jl
+++ b/src/estimator/mhe/construct.jl
@@ -342,7 +342,7 @@ MovingHorizonEstimator estimator with a sample time Ts = 10.0 s:
   │ ├ 0 unmeasured outputs yu
   │ └ 0 measured disturbances d
   └ optimization:
-    ├ 12 decision variables Z̃ (0 slack variable)
+    ├ 12 decision variables Z̃ (0 slack variable, 0 bounds)
     ├  0 linear inequality constraints A
     └  0 nonlinear inequality constraints g (0 custom)
 ```
@@ -789,7 +789,7 @@ MovingHorizonEstimator estimator with a sample time Ts = 1.0 s:
   │ ├ 0 unmeasured outputs yu
   │ └ 0 measured disturbances d
   └ optimization:
-    ├  8 decision variables Z̃ (0 slack variable)
+    ├  8 decision variables Z̃ (0 slack variable, 4 bounds)
     ├ 12 linear inequality constraints A
     └  0 nonlinear inequality constraints g (0 custom)
 ```