diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7a1f694283..03148ce210 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ All notable changes to this project are documented in this file.
 - Add SubModelKinDynWrapper class to handle the `KinDynComputation` object of a sub-model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/605)
 - Implement the `JointLimitsTask` for the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/603)
 - Add the possibility to programmatically build an IK problem from a configuration file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/614)
+- Implement state dynamic models needed to define an UKF process model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/615)
 
 ### Changed
 - Ask for `toml++ v3.0.1` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/581)