diff --git a/.release-please-manifest.json b/.release-please-manifest.json
index a32854d..14342db 100644
--- a/.release-please-manifest.json
+++ b/.release-please-manifest.json
@@ -1,3 +1,3 @@
 {
-  ".": "2.0.0"
+  ".": "2.1.0"
 }
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 01b43a9..d95c22c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,96 @@
 # Changelog
 
+## [2.1.0](https://github.com/embedded-pro/numerical-toolbox-cpp/compare/v2.0.0...v2.1.0) (2026-08-01)
+
+
+### Features
+
+* Add algorithm test-strategy metrics reference ([#194](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/194)) ([7776172](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/7776172d117fd4a2a3043748f885d646f111b253))
+* Add alpha beta filter ([#171](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/171)) ([c12de89](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/c12de89e29401bbfc91fa337a9c5e3747626a3da))
+* Add backstepping controller ([#217](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/217)) ([8796890](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/87968904ff1b39a6f72ff02906f19d775084b0fe))
+* Add bang bang controller ([#167](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/167)) ([fc4d550](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/fc4d55009a2126028deaf85fb809de08b06360cd))
+* Add bayesian opmization ([#138](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/138)) ([dbf40cc](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/dbf40cc34e69e6236a2751cfbc49acb3b2606953))
+* Add biquad filter ([#190](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/190)) ([1329284](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/1329284c310ddfed883b1ff67b80b0da779337c3))
+* Add booklet generator ([#208](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/208)) ([7d5f1ee](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/7d5f1ee4f8ad46358e46853e98dd06d1e101550b))
+* Add cascade integrator filter ([#177](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/177)) ([bb43d57](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/bb43d57b35c0bf392a4c529f5fb1e666a23bb289))
+* Add complementary filter ([#172](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/172)) ([e31a58b](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e31a58bf16778a58415a2ff4b48b7920155be68b))
+* Add consistency metrics ([#198](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/198)) ([6cc9632](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/6cc963223a735b4f28197bace81e8be1c456611c))
+* Add continuous to discrete impl ([#204](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/204)) ([09c8786](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/09c8786f9d10359fb5a74bf1a1d0540e94eed0a5))
+* Add controllability and observability ([#184](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/184)) ([1f02348](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/1f023484572a5dbb315af290112a6e7b5ef57c34))
+* Add convolution and correlation ([#174](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/174)) ([ffd17bb](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ffd17bbb68a3284274908c1232844c0b196416e2))
+* Add cordic ([#183](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/183)) ([cab893e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/cab893e1e742d4c60d0a7236fadbfac1d7683ab1))
+* Add disturbance observer ([#209](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/209)) ([ccaa53e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ccaa53efe8739f39e7c7a7548125fa0055693013))
+* Add disturbance rejection ([#210](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/210)) ([9f06f01](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/9f06f019ebd79a11d24ba3a8ba61235ec89c3652))
+* Add exponential moving average filter ([#164](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/164)) ([4db3f6f](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/4db3f6fafcc1b36f46424a3d729b947288c05fcd))
+* Add feedback linearization ([#216](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/216)) ([7ca1c09](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/7ca1c09fbc76aabd4e46fc70b824e47f70c9a937))
+* Add feedforward controller ([#170](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/170)) ([d59132b](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/d59132b00e194b10c2e91827314cdb9e3587fe94))
+* Add gain scheduled controller ([#173](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/173)) ([13b9f97](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/13b9f9791d436a5d820d8594d5169ecb1c0307e2))
+* Add goertzel algorithm ([#176](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/176)) ([88cf102](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/88cf102aa030c78c48d9c249d46b11cac41a8e48))
+* Add hilbert transform ([#211](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/211)) ([e2de49a](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e2de49ae265debf46ad467dfba07cd47449826e8))
+* Add jacobi eigen solver ([#218](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/218)) ([43628d7](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/43628d77b7330da6fa673d8369b56c58671fed67))
+* Add lead lag compensator ([#180](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/180)) ([a817996](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/a8179966b31de97b4ca5151f7a48dd98cadc8d3d))
+* Add lms adaptive filter ([#182](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/182)) ([7e72637](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/7e726379d540c700e6ff62a288f6acc180e7c20a))
+* Add lqi controller ([#189](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/189)) ([2e933fb](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/2e933fb8019cb6c63502f96b40438f7e4ff10225))
+* Add lu decomposition ([#201](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/201)) ([2033356](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/2033356839e04f060acc884e794b94f5d7e016d2))
+* Add luenberger observer ([#181](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/181)) ([d06f6ac](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/d06f6ace49abb7ad602d14a6eedae4ea2baddf52))
+* Add lyapunov sylvester ([#203](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/203)) ([e0b3ce4](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e0b3ce4e30ef2744208d1f74e46f1b6a03d49526))
+* Add madgwick and mahony AHRS algorithm ([#206](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/206)) ([3992b55](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/3992b55012ac1bbb3075d9a3580988e6dc811dec))
+* Add matrix exponential ([#202](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/202)) ([e3f73ac](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e3f73aca94e74fa2a119ba9af2b1060fb9ebb7ab))
+* Add median filter ([#169](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/169)) ([d4d5912](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/d4d59126dc152141097610a18ea6243f9e669308))
+* Add moving average filter ([#165](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/165)) ([ed9b147](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ed9b1477d3bf5d6465f7df8099e3714b146d2de0))
+* Add notch filter ([#179](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/179)) ([cbda3ab](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/cbda3abb54d63eab50e83916fab1744db307b5c5))
+* Add polynomial least-squares fitting ([#175](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/175)) ([852d0f7](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/852d0f7279d492dda279f428a6484293cb3328ea))
+* Add qr decomposition ([#200](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/200)) ([52c7ed8](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/52c7ed835935ba8a17f69a8ec6bd9b677c5f13b2))
+* Add quartenion ([#178](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/178)) ([f5c0569](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/f5c0569309effedccec955b5ff00add634325650))
+* Add real fft ([#188](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/188)) ([2e74f70](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/2e74f70f88af9c6c0a5c8f6900698f47c1a30c1d))
+* Add rungekutta algorithm ([#187](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/187)) ([5a71ef2](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/5a71ef2bf3ef2f66b789a32629177bc85f00ccbb))
+* Add saturation rate limiter ([#166](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/166)) ([551547a](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/551547a43105ac8ac1f0668a8bf50485cd97a62d))
+* Add savitzky golay filter ([#185](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/185)) ([825e94e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/825e94e73ff8d4e8422f7eaec60860383824062e))
+* Add signal detectors ([#168](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/168)) ([ade498b](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ade498b9f4d8316bcdb0e5295ce901f3a1ef68cd))
+* Add smc robust control ([#207](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/207)) ([4256f8d](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/4256f8d2d96cfa4c4e646921b8e85b489566067f))
+* Add spectral radius ([#197](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/197)) ([dcbd55c](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/dcbd55cbab699c9c4a74ea1b561b85c5c03a7fa8))
+* Add square root info kalman filter ([#215](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/215)) ([ffc0ca9](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ffc0ca981db078c424782e7456ba46c47fce4015))
+* Add trasnfer function to state spaces conversion ([#205](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/205)) ([384c739](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/384c7397d875ab8e7ecd8f88e7938de1bf21d8b3))
+* Add wavelets ([#212](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/212)) ([33bfc3e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/33bfc3ef36aa3faf2a32037077890657c6b0a160))
+* Introduce LQG and State spaces ([#143](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/143)) ([85a9bba](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/85a9bba50ded19899e5eabd0bfa47e559c7b26e0))
+
+
+### Miscellaneous
+
+* Add agent to refactor old code ([#199](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/199)) ([2e24bb6](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/2e24bb631208eceac880d4278789d983276d7f48))
+* Add caveman ([#154](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/154)) ([ab70e5b](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ab70e5b8426b2f598d783b93dcae5a5c33abf51d))
+* Add inverse kinematics ([#136](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/136)) ([36ff77e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/36ff77e5ee95f7b9a62e51b4be5bce01fae2e4af))
+* Add matrix norms ([#196](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/196)) ([bc51f7c](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/bc51f7c734d8d1954bac669c811aa0b17388d570))
+* Add metrics for libraries ([#195](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/195)) ([b61f468](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/b61f468acf26523120250e1ba2c7c6d2ffe72fdb))
+* Add new structure ([#113](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/113)) ([fca4c0d](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/fca4c0d3f16fb696441fe9b413ef2279e2a57ccf))
+* Improve ai agents and add roadmap ([#163](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/163)) ([facda22](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/facda224fbb35135da7db3cd9284f524e0326b44))
+* Improve gui ([#119](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/119)) ([cb6187b](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/cb6187b8143cd34895372b7d9038c1e6c52b26c6))
+* Include missing simulators ([#116](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/116)) ([8154c04](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/8154c043c7895051e5811313911e22207123b3d3))
+* Lqr simulator ([#95](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/95)) ([87a1aa9](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/87a1aa9aa06c8c3996a31d22f92918cd8742376b))
+* Relocate manipulator roadmap specs to robotics, generalize feedback linearization ([#214](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/214)) ([45d3be2](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/45d3be27d88a8502a65fa6951809287f2983fe8f))
+* Revert "chore: add caveman" ([#155](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/155)) ([db58f39](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/db58f39e60fc12a52b23aad9cd3c7f84ab6e30da))
+
+
+### Build System
+
+* **deps:** Bump actions/checkout from 6.0.3 to 7.0.0 ([#158](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/158)) ([62d387c](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/62d387cd65c40af4ad158308f6a016a4549f0203))
+* **deps:** Bump actions/setup-python from 6.3.0 to 7.0.0 ([#186](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/186)) ([ed3be40](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ed3be400e2c9a267f80395cb43c2e7986e36004e))
+* **deps:** Bump gabrielfrasantos/embedded-devcontainer-cpp ([#147](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/147)) ([b0361c1](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/b0361c1f25fcafcdc1f862cb025a041103413ebe))
+* **deps:** Bump gabrielfrasantos/embedded-devcontainer-cpp ([#149](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/149)) ([a6bc91c](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/a6bc91c0cb36152d306e26fd53854fb2f760608c))
+* **deps:** Bump gabrielfrasantos/embedded-devcontainer-cpp ([#152](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/152)) ([3fe736c](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/3fe736c3afbd0d460403c93b286a724d51c4d221))
+* **deps:** Bump gabrielfrasantos/embedded-devcontainer-cpp ([#192](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/192)) ([f92a225](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/f92a225c38fa04d142eecdec124ca46c1a6e6dcd))
+* **deps:** Bump github/codeql-action ([#142](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/142)) ([9e1145e](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/9e1145e93138a1cb6e6e815616219d4dbf9ce937))
+* **deps:** Bump github/codeql-action ([#150](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/150)) ([90d97a3](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/90d97a302cee21de96a3ad0f79583d1a5176f854))
+* **deps:** Bump github/codeql-action ([#156](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/156)) ([871b7ce](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/871b7ce7680c303d66ecad4bfbb49a1c35ee0ab2))
+* **deps:** Bump googleapis/release-please-action from 4.4.1 to 5.0.0 ([#145](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/145)) ([e48d9d6](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e48d9d6f70ea67734a07bc46aca9ed46730db951))
+* **deps:** Bump the patch-minor-action-updates group across 1 directory with 2 updates ([#146](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/146)) ([a387759](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/a387759c57d5b6ee25725a1650c50546debdc007))
+* **deps:** Bump the patch-minor-action-updates group across 1 directory with 2 updates ([#162](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/162)) ([bab29ac](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/bab29ac3d1dff52603bbc1ce8fb5c36339752661))
+* **deps:** Bump the patch-minor-action-updates group across 1 directory with 4 updates ([#160](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/160)) ([45e59b7](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/45e59b7eac37c6791a5d9c4645de935a458c6668))
+* **deps:** Bump the patch-minor-action-updates group with 2 updates ([#151](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/151)) ([ad34da1](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/ad34da156700c33f2c38547c49ea317c1fcb444d))
+* **deps:** Bump the patch-minor-action-updates group with 3 updates ([#129](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/129)) ([bd50760](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/bd50760fd8e518faa7e2078c2426d85f8ac2f661))
+* **deps:** Bump the patch-minor-action-updates group with 3 updates ([#141](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/141)) ([c940780](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/c9407802cbcbeeb25627efcd1a8a0b9c17d50388))
+* **deps:** Bump the patch-minor-action-updates group with 3 updates ([#148](https://github.com/embedded-pro/numerical-toolbox-cpp/issues/148)) ([e867959](https://github.com/embedded-pro/numerical-toolbox-cpp/commit/e867959adf0a8191471b7d802852690e14955357))
+
 ## [2.0.0](https://github.com/embedded-pro/numerical-toolbox-cpp/compare/v1.0.0...v2.0.0) (2026-03-24)
 
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fdf18fc..ead249f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,7 +49,7 @@ if (NUMERICAL_TOOLBOX_STANDALONE)
     FetchContent_MakeAvailable(emil)
 endif()
 
-project(numerical-toolbox LANGUAGES C CXX ASM VERSION 2.0.0) # x-release-please-version
+project(numerical-toolbox LANGUAGES C CXX ASM VERSION 2.1.0) # x-release-please-version
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED On)