diff --git a/docs/src/assets/Manifest.toml b/docs/src/assets/Manifest.toml
index f31f319..e323262 100644
--- a/docs/src/assets/Manifest.toml
+++ b/docs/src/assets/Manifest.toml
@@ -2,7 +2,7 @@
 
 julia_version = "1.11.5"
 manifest_format = "2.0"
-project_hash = "a0f7a38986e41d62db81da09b6b12da3c238b679"
+project_hash = "e7183c2ad8bb7ad385c3187377b285a34e621395"
 
 [[deps.ADNLPModels]]
 deps = ["ADTypes", "ForwardDiff", "LinearAlgebra", "NLPModels", "Requires", "ReverseDiff", "SparseArrays", "SparseConnectivityTracer", "SparseMatrixColorings"]
@@ -88,12 +88,6 @@ version = "1.1.3"
 uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f"
 version = "1.1.2"
 
-[[deps.ArnoldiMethod]]
-deps = ["LinearAlgebra", "Random", "StaticArrays"]
-git-tree-sha1 = "d57bd3762d308bded22c3b82d033bff85f6195c6"
-uuid = "ec485272-7323-5ecc-a04f-4719b315124d"
-version = "0.4.0"
-
 [[deps.ArrayInterface]]
 deps = ["Adapt", "LinearAlgebra"]
 git-tree-sha1 = "9606d7832795cbef89e06a550475be300364a8aa"
@@ -150,6 +144,12 @@ version = "1.1.0"
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
 version = "1.11.0"
 
+[[deps.BenchmarkTools]]
+deps = ["Compat", "JSON", "Logging", "Printf", "Profile", "Statistics", "UUIDs"]
+git-tree-sha1 = "e38fbc49a620f5d0b660d7f543db1009fe0f8336"
+uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+version = "1.6.0"
+
 [[deps.BitFlags]]
 git-tree-sha1 = "0691e34b3bb8be9307330f88d1a3c3f25466c24d"
 uuid = "d1d4a3ce-64b1-5f1a-9ba4-7e7e69966f35"
@@ -163,12 +163,13 @@ version = "0.1.6"
 
 [[deps.BracketingNonlinearSolve]]
 deps = ["CommonSolve", "ConcreteStructs", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase"]
-git-tree-sha1 = "637ebe439ba587828fd997b7810d8171eed2ea1b"
+git-tree-sha1 = "a9014924595b7a2c1dd14aac516e38fa10ada656"
 uuid = "70df07ce-3d50-431d-a3e7-ca6ddb60ac1e"
-version = "1.2.0"
-weakdeps = ["ForwardDiff"]
+version = "1.3.0"
+weakdeps = ["ChainRulesCore", "ForwardDiff"]
 
     [deps.BracketingNonlinearSolve.extensions]
+    BracketingNonlinearSolveChainRulesCoreExt = ["ChainRulesCore", "ForwardDiff"]
     BracketingNonlinearSolveForwardDiffExt = "ForwardDiff"
 
 [[deps.Bzip2_jll]]
@@ -185,9 +186,9 @@ version = "0.2.6"
 
 [[deps.CTBase]]
 deps = ["DocStringExtensions"]
-git-tree-sha1 = "715a4381eb5e1d11ee92d86759ada1c27689345f"
+git-tree-sha1 = "1e0fb19f883cda373412fd40f2ccad71758cb876"
 uuid = "54762871-cc72-4466-b8e8-f6c8b58076cd"
-version = "0.16.0"
+version = "0.16.1"
 
 [[deps.CTDirect]]
 deps = ["ADNLPModels", "CTBase", "CTModels", "CTParser", "DocStringExtensions", "HSL", "MKL", "NLPModelsIpopt", "SparseArrays"]
@@ -238,9 +239,9 @@ version = "0.2.5"
 
 [[deps.Cairo_jll]]
 deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"]
-git-tree-sha1 = "2ac646d71d0d24b44f3f8c84da8c9f4d70fb67df"
+git-tree-sha1 = "fde3bf89aead2e723284a8ff9cdf5b551ed700e8"
 uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a"
-version = "1.18.4+0"
+version = "1.18.5+0"
 
 [[deps.ChainRulesCore]]
 deps = ["Compat", "LinearAlgebra"]
@@ -292,9 +293,9 @@ weakdeps = ["SpecialFunctions"]
 
 [[deps.Colors]]
 deps = ["ColorTypes", "FixedPointNumbers", "Reexport"]
-git-tree-sha1 = "64e15186f0aa277e174aa81798f7eb8598e0157e"
+git-tree-sha1 = "37ea44092930b1811e666c3bc38065d7d87fcc74"
 uuid = "5ae59095-9a9b-59fe-a467-6f913c188581"
-version = "0.13.0"
+version = "0.13.1"
 
 [[deps.CommonSolve]]
 git-tree-sha1 = "0eee5eb66b1cf62cd6ad1b460238e60e4b09400c"
@@ -419,9 +420,9 @@ version = "1.9.1"
 
 [[deps.DiffEqBase]]
 deps = ["ArrayInterface", "ConcreteStructs", "DataStructures", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "Parameters", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "1bcd3a5c585c477e5d0595937ea7b5adcda6c621"
+git-tree-sha1 = "a0e5b5669df9465bc3dd32ea4a8ddeefbc0f7b5c"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.174.0"
+version = "6.175.0"
 
     [deps.DiffEqBase.extensions]
     DiffEqBaseCUDAExt = "CUDA"
@@ -434,6 +435,7 @@ version = "6.174.0"
     DiffEqBaseMPIExt = "MPI"
     DiffEqBaseMeasurementsExt = "Measurements"
     DiffEqBaseMonteCarloMeasurementsExt = "MonteCarloMeasurements"
+    DiffEqBaseMooncakeExt = "Mooncake"
     DiffEqBaseReverseDiffExt = "ReverseDiff"
     DiffEqBaseSparseArraysExt = "SparseArrays"
     DiffEqBaseTrackerExt = "Tracker"
@@ -450,6 +452,7 @@ version = "6.174.0"
     MPI = "da04e1cc-30fd-572f-bb4f-1f8673147195"
     Measurements = "eff96d63-e80a-5855-80a2-b1b0885c5ab7"
     MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca"
+    Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6"
     ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
     SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
     Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
@@ -523,15 +526,15 @@ uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 version = "1.11.0"
 
 [[deps.DocStringExtensions]]
-git-tree-sha1 = "e7b7e6f178525d17c720ab9c081e4ef04429f860"
+git-tree-sha1 = "7442a5dfe1ebb773c29cc2962a8980f47221d76c"
 uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
-version = "0.9.4"
+version = "0.9.5"
 
 [[deps.Documenter]]
 deps = ["ANSIColoredPrinters", "AbstractTrees", "Base64", "CodecZlib", "Dates", "DocStringExtensions", "Downloads", "Git", "IOCapture", "InteractiveUtils", "JSON", "Logging", "Markdown", "MarkdownAST", "Pkg", "PrecompileTools", "REPL", "RegistryInstances", "SHA", "TOML", "Test", "Unicode"]
-git-tree-sha1 = "6c182d0bd94142d7cbc3ae8a1e74668f15d0dd65"
+git-tree-sha1 = "0ef76e54dfe9d736350a79334dc66236598c8d38"
 uuid = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
-version = "1.11.4"
+version = "1.12.0"
 
 [[deps.Downloads]]
 deps = ["ArgTools", "FileWatching", "LibCURL", "NetworkOptions"]
@@ -544,9 +547,9 @@ uuid = "4e289a0a-7415-4d19-859d-a7e5c4648b56"
 version = "1.0.5"
 
 [[deps.EnzymeCore]]
-git-tree-sha1 = "1eb59f40a772d0fbd4cb75e00b3fa7f5f79c975a"
+git-tree-sha1 = "7d7822a643c33bbff4eab9c87ca8459d7c688db0"
 uuid = "f151be2c-9106-41f4-ab19-57ee4f262869"
-version = "0.8.9"
+version = "0.8.11"
 weakdeps = ["Adapt"]
 
     [deps.EnzymeCore.extensions]
@@ -783,9 +786,9 @@ version = "2.49.0+0"
 
 [[deps.Glib_jll]]
 deps = ["Artifacts", "Gettext_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"]
-git-tree-sha1 = "b0036b392358c80d2d2124746c2bf3d48d457938"
+git-tree-sha1 = "fee60557e4f19d0fe5cd169211fdda80e494f4e8"
 uuid = "7746bdde-850d-59dc-9ae8-88ece973131d"
-version = "2.82.4+0"
+version = "2.84.0+0"
 
 [[deps.Graphite2_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -793,12 +796,6 @@ git-tree-sha1 = "8a6dbda1fd736d60cc477d99f2e7a042acfa46e8"
 uuid = "3b182d85-2403-5c21-9c21-1e1f0cc25472"
 version = "1.3.15+0"
 
-[[deps.Graphs]]
-deps = ["ArnoldiMethod", "Compat", "DataStructures", "Distributed", "Inflate", "LinearAlgebra", "Random", "SharedArrays", "SimpleTraits", "SparseArrays", "Statistics"]
-git-tree-sha1 = "3169fd3440a02f35e549728b0890904cfd4ae58a"
-uuid = "86223c79-3864-5bf0-83f7-82e725a168b6"
-version = "1.12.1"
-
 [[deps.Grisu]]
 git-tree-sha1 = "53bb909d1151e57e2484c3d1b53e19552b887fb2"
 uuid = "42e2da0e-8278-4e71-bc24-59509adca0fe"
@@ -824,9 +821,9 @@ version = "1.10.16"
 
 [[deps.HarfBuzz_jll]]
 deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "Graphite2_jll", "JLLWrappers", "Libdl", "Libffi_jll"]
-git-tree-sha1 = "55c53be97790242c29031e5cd45e8ac296dadda3"
+git-tree-sha1 = "f923f9a774fcf3f5cb761bfa43aeadd689714813"
 uuid = "2e76f6c2-a576-52d4-95c1-20adfe4de566"
-version = "8.5.0+0"
+version = "8.5.1+0"
 
 [[deps.Hwloc_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -845,11 +842,6 @@ git-tree-sha1 = "debdd00ffef04665ccbb3e150747a77560e8fad1"
 uuid = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 version = "0.1.1"
 
-[[deps.Inflate]]
-git-tree-sha1 = "d1b1b796e47d94588b3757fe84fbf65a5ec4a80d"
-uuid = "d25df0c9-e2be-5dd7-82c8-3ad0b3e990b9"
-version = "0.1.5"
-
 [[deps.InlineStrings]]
 git-tree-sha1 = "6a9fde685a7ac1eb3495f8e812c5a7c3711c2d5e"
 uuid = "842dd82b-1e85-43dc-bf29-5d0ee9dffc48"
@@ -901,9 +893,9 @@ version = "1.3.1"
 
 [[deps.Ipopt]]
 deps = ["Ipopt_jll", "LinearAlgebra", "OpenBLAS32_jll", "PrecompileTools"]
-git-tree-sha1 = "100030874c53b61d8c21d1bcb725265555d146ff"
+git-tree-sha1 = "4ad0d2dea51e5d49866b40a2d2521da6a1be7097"
 uuid = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
-version = "1.10.3"
+version = "1.10.6"
 
     [deps.Ipopt.extensions]
     IpoptMathOptInterfaceExt = "MathOptInterface"
@@ -913,9 +905,9 @@ version = "1.10.3"
 
 [[deps.Ipopt_jll]]
 deps = ["ASL_jll", "Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "MUMPS_seq_jll", "SPRAL_jll", "libblastrampoline_jll"]
-git-tree-sha1 = "4f55ad688c698a4f77d892a1cb673f7e8a30f178"
+git-tree-sha1 = "1bb978524c2837be596aeb2b69951feb6b9822f8"
 uuid = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7"
-version = "300.1400.1700+0"
+version = "300.1400.1701+0"
 
 [[deps.IrrationalConstants]]
 git-tree-sha1 = "e2222959fbc6c19554dc15174c81bf7bf3aa691c"
@@ -1000,19 +992,21 @@ version = "1.4.0"
 
 [[deps.Latexify]]
 deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"]
-git-tree-sha1 = "cd10d2cc78d34c0e2a3a36420ab607b611debfbb"
+git-tree-sha1 = "4f34eaabe49ecb3fb0d58d6015e32fd31a733199"
 uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
-version = "0.16.7"
+version = "0.16.8"
 
     [deps.Latexify.extensions]
     DataFramesExt = "DataFrames"
     SparseArraysExt = "SparseArrays"
     SymEngineExt = "SymEngine"
+    TectonicExt = "tectonic_jll"
 
     [deps.Latexify.weakdeps]
     DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
     SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
     SymEngine = "123dc426-2d89-5057-bbad-38513e3affd8"
+    tectonic_jll = "d7dd28d6-a5e6-559c-9131-7eb760cdacc5"
 
 [[deps.LayoutPointers]]
 deps = ["ArrayInterface", "LinearAlgebra", "ManualMemory", "SIMDTypes", "Static", "StaticArrayInterface"]
@@ -1078,10 +1072,10 @@ uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
 version = "1.11.0"
 
 [[deps.Libffi_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "27ecae93dd25ee0909666e6835051dd684cc035e"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "c8da7e6a91781c41a863611c7e966098d783c57a"
 uuid = "e9f186c6-92d2-5b65-8a66-fee21dc1b490"
-version = "3.2.2+2"
+version = "3.4.7+0"
 
 [[deps.Libglvnd_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll", "Xorg_libXext_jll"]
@@ -1158,9 +1152,9 @@ version = "2.10.0"
 
 [[deps.LinearSolve]]
 deps = ["ArrayInterface", "ChainRulesCore", "ConcreteStructs", "DocStringExtensions", "EnumX", "GPUArraysCore", "InteractiveUtils", "Krylov", "LazyArrays", "Libdl", "LinearAlgebra", "MKL_jll", "Markdown", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "StaticArraysCore", "UnPack"]
-git-tree-sha1 = "6cc433e4e8cf070fc54bf29f620685d21890fe07"
+git-tree-sha1 = "c0d1a91a50af6778863d320761f807f641f74935"
 uuid = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
-version = "3.14.1"
+version = "3.17.0"
 
     [deps.LinearSolve.extensions]
     LinearSolveBandedMatricesExt = "BandedMatrices"
@@ -1255,9 +1249,9 @@ version = "0.4.17"
 
 [[deps.MUMPS_seq_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"]
-git-tree-sha1 = "0eab12f94948ca67908aec14b9f2ebefd17463fe"
+git-tree-sha1 = "196f61d99adc06f32c32bc4afe5298d9b1e862c8"
 uuid = "d7ed1dd3-d0ae-5e8e-bfb4-87a502085b8d"
-version = "500.700.301+0"
+version = "500.800.0+0"
 
 [[deps.MacroTools]]
 git-tree-sha1 = "1e0228a030642014fe5cfe68c2c0a818f9e3f522"
@@ -1356,10 +1350,10 @@ uuid = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 version = "0.10.4"
 
 [[deps.NLSolversBase]]
-deps = ["DiffResults", "Distributed", "FiniteDiff", "ForwardDiff"]
-git-tree-sha1 = "a0b464d183da839699f4c79e7606d9d186ec172c"
+deps = ["ADTypes", "DifferentiationInterface", "Distributed", "FiniteDiff", "ForwardDiff"]
+git-tree-sha1 = "25a6638571a902ecfb1ae2a18fc1575f86b1d4df"
 uuid = "d41bc354-129a-5804-8e4c-c37616107c6c"
-version = "7.8.3"
+version = "7.10.0"
 
 [[deps.NaNMath]]
 deps = ["OpenLibm_jll"]
@@ -1405,9 +1399,9 @@ version = "4.9.0"
 
 [[deps.NonlinearSolveBase]]
 deps = ["ADTypes", "Adapt", "ArrayInterface", "CommonSolve", "Compat", "ConcreteStructs", "DifferentiationInterface", "EnzymeCore", "FastClosures", "LinearAlgebra", "Markdown", "MaybeInplace", "Preferences", "Printf", "RecursiveArrayTools", "SciMLBase", "SciMLJacobianOperators", "SciMLOperators", "StaticArraysCore", "SymbolicIndexingInterface", "TimerOutputs"]
-git-tree-sha1 = "1a6f6b161a644beac3c46a46f9bbb830c24abffb"
+git-tree-sha1 = "404d71dd057759f4d590191a643113485c4a482a"
 uuid = "be0214bd-f91f-a760-ac4e-3421ce2b2da0"
-version = "1.8.0"
+version = "1.12.0"
 
     [deps.NonlinearSolveBase.extensions]
     NonlinearSolveBaseBandedMatricesExt = "BandedMatrices"
@@ -1435,9 +1429,9 @@ version = "1.5.0"
 
 [[deps.NonlinearSolveQuasiNewton]]
 deps = ["ArrayInterface", "CommonSolve", "ConcreteStructs", "DiffEqBase", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLOperators", "StaticArraysCore"]
-git-tree-sha1 = "b69a68ef3a7bba7ab1d5ef6321ed6d9a613142b0"
+git-tree-sha1 = "e3888bdbab6e0bfadbc3164ef4595e40e7b7e954"
 uuid = "9a2c21bd-3a47-402d-9113-8faf9a0ee114"
-version = "1.5.0"
+version = "1.6.0"
 weakdeps = ["ForwardDiff"]
 
     [deps.NonlinearSolveQuasiNewton.extensions]
@@ -1527,9 +1521,9 @@ version = "1.8.1"
 
 [[deps.OrdinaryDiffEq]]
 deps = ["ADTypes", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "ExponentialUtilities", "FastBroadcast", "FastClosures", "FillArrays", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "InteractiveUtils", "LineSearches", "LinearAlgebra", "LinearSolve", "Logging", "MacroTools", "MuladdMacro", "NonlinearSolve", "OrdinaryDiffEqAdamsBashforthMoulton", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqDefault", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqExplicitRK", "OrdinaryDiffEqExponentialRK", "OrdinaryDiffEqExtrapolation", "OrdinaryDiffEqFIRK", "OrdinaryDiffEqFeagin", "OrdinaryDiffEqFunctionMap", "OrdinaryDiffEqHighOrderRK", "OrdinaryDiffEqIMEXMultistep", "OrdinaryDiffEqLinear", "OrdinaryDiffEqLowOrderRK", "OrdinaryDiffEqLowStorageRK", "OrdinaryDiffEqNonlinearSolve", "OrdinaryDiffEqNordsieck", "OrdinaryDiffEqPDIRK", "OrdinaryDiffEqPRK", "OrdinaryDiffEqQPRK", "OrdinaryDiffEqRKN", "OrdinaryDiffEqRosenbrock", "OrdinaryDiffEqSDIRK", "OrdinaryDiffEqSSPRK", "OrdinaryDiffEqStabilizedIRK", "OrdinaryDiffEqStabilizedRK", "OrdinaryDiffEqSymplecticRK", "OrdinaryDiffEqTsit5", "OrdinaryDiffEqVerner", "Polyester", "PreallocationTools", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleNonlinearSolve", "SimpleUnPack", "SparseArrays", "Static", "StaticArrayInterface", "StaticArrays", "TruncatedStacktraces"]
-git-tree-sha1 = "56d5500e9970f0112a4e1ab6474d6fedde61ef64"
+git-tree-sha1 = "1c2b2df870944e0dc01454fd87479847c55fa26c"
 uuid = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-version = "6.97.0"
+version = "6.98.0"
 
 [[deps.OrdinaryDiffEqAdamsBashforthMoulton]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqLowOrderRK", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1539,9 +1533,9 @@ version = "1.2.0"
 
 [[deps.OrdinaryDiffEqBDF]]
 deps = ["ADTypes", "ArrayInterface", "DiffEqBase", "FastBroadcast", "LinearAlgebra", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "OrdinaryDiffEqSDIRK", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "StaticArrays", "TruncatedStacktraces"]
-git-tree-sha1 = "970ac761ae1c4249fc70d75760c328269a518585"
+git-tree-sha1 = "9124a686af119063bb4d3a8f87044a8f312fcad9"
 uuid = "6ad6398a-0878-4a85-9266-38940aa047c8"
-version = "1.3.0"
+version = "1.6.0"
 
 [[deps.OrdinaryDiffEqCore]]
 deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "FastBroadcast", "FastClosures", "FastPower", "FillArrays", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleUnPack", "Static", "StaticArrayInterface", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
@@ -1560,10 +1554,10 @@ uuid = "50262376-6c5a-4cf5-baba-aaf4f84d72d7"
 version = "1.4.0"
 
 [[deps.OrdinaryDiffEqDifferentiation]]
-deps = ["ADTypes", "ArrayInterface", "DiffEqBase", "FastBroadcast", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "LinearAlgebra", "LinearSolve", "OrdinaryDiffEqCore", "SciMLBase", "SparseArrays", "SparseDiffTools", "StaticArrayInterface", "StaticArrays"]
-git-tree-sha1 = "9a535370247496c1375ba6d08b0493c0d856d25b"
+deps = ["ADTypes", "ArrayInterface", "ConcreteStructs", "ConstructionBase", "DiffEqBase", "DifferentiationInterface", "FastBroadcast", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "LinearAlgebra", "LinearSolve", "OrdinaryDiffEqCore", "SciMLBase", "SciMLOperators", "SparseArrays", "SparseMatrixColorings", "StaticArrayInterface", "StaticArrays"]
+git-tree-sha1 = "efecf0c4cc44e16251b0e718f08b0876b2a82b80"
 uuid = "4302a76b-040a-498a-8c04-15b101fed76b"
-version = "1.4.0"
+version = "1.10.0"
 
 [[deps.OrdinaryDiffEqExplicitRK]]
 deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "TruncatedStacktraces"]
@@ -1585,9 +1579,9 @@ version = "1.5.0"
 
 [[deps.OrdinaryDiffEqFIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "FastGaussQuadrature", "FastPower", "LinearAlgebra", "LinearSolve", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators"]
-git-tree-sha1 = "588f454cc1c48c20a32f03838af4983053a1d3ae"
+git-tree-sha1 = "0da8ec3491821262a3d2828e6370e76b51a770a3"
 uuid = "5960d6e9-dd7a-4743-88e7-cf307b64f125"
-version = "1.9.0"
+version = "1.12.0"
 
 [[deps.OrdinaryDiffEqFeagin]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1633,9 +1627,9 @@ version = "1.3.0"
 
 [[deps.OrdinaryDiffEqNonlinearSolve]]
 deps = ["ADTypes", "ArrayInterface", "DiffEqBase", "FastBroadcast", "FastClosures", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MuladdMacro", "NonlinearSolve", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "PreallocationTools", "RecursiveArrayTools", "SciMLBase", "SciMLOperators", "SciMLStructures", "SimpleNonlinearSolve", "StaticArrays"]
-git-tree-sha1 = "1b89e3e84752a3cbd2c94db565e6ea7acb5279b2"
+git-tree-sha1 = "ffdb0f5207b0e30f8b1edf99b3b9546d9c48ccaf"
 uuid = "127b3ac7-2247-4354-8eb6-78cf4e7c58e8"
-version = "1.5.0"
+version = "1.10.0"
 
 [[deps.OrdinaryDiffEqNordsieck]]
 deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqTsit5", "Polyester", "RecursiveArrayTools", "Reexport", "Static"]
@@ -1645,9 +1639,9 @@ version = "1.1.0"
 
 [[deps.OrdinaryDiffEqPDIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "Polyester", "Reexport", "StaticArrays"]
-git-tree-sha1 = "f74b27b8b811a83d77a9cad6293e793ab0804cdc"
+git-tree-sha1 = "ab9897e4bc8e3cf8e15f1cf61dbdd15d6a2341d7"
 uuid = "5dd0a6cf-3d4b-4314-aa06-06d4e299bc89"
-version = "1.3.0"
+version = "1.3.1"
 
 [[deps.OrdinaryDiffEqPRK]]
 deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "Reexport"]
@@ -1668,10 +1662,10 @@ uuid = "af6ede74-add8-4cfd-b1df-9a4dbb109d7a"
 version = "1.1.0"
 
 [[deps.OrdinaryDiffEqRosenbrock]]
-deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static"]
-git-tree-sha1 = "bede3226fd485741e364239e23236e07ace77639"
+deps = ["ADTypes", "DiffEqBase", "DifferentiationInterface", "FastBroadcast", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static"]
+git-tree-sha1 = "1ce0096d920e95773220e818f29bf4b37ea2bb78"
 uuid = "43230ef6-c299-4910-a778-202eb28ce4ce"
-version = "1.8.0"
+version = "1.11.0"
 
 [[deps.OrdinaryDiffEqSDIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "LinearAlgebra", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "RecursiveArrayTools", "Reexport", "SciMLBase", "TruncatedStacktraces"]
@@ -1720,17 +1714,11 @@ deps = ["Artifacts", "Libdl"]
 uuid = "efcefdf7-47ab-520b-bdef-62a2eaa19f15"
 version = "10.42.0+1"
 
-[[deps.PackageExtensionCompat]]
-git-tree-sha1 = "fb28e33b8a95c4cee25ce296c817d89cc2e53518"
-uuid = "65ce6f38-6b18-4e1d-a461-8949797d7930"
-version = "1.0.2"
-weakdeps = ["Requires", "TOML"]
-
 [[deps.Pango_jll]]
 deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "FriBidi_jll", "Glib_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "3b31172c032a1def20c98dae3f2cdc9d10e3b561"
+git-tree-sha1 = "275a9a6d85dc86c24d03d1837a0010226a96f540"
 uuid = "36c8627f-9965-5494-a995-c6b170f724f3"
-version = "1.56.1+0"
+version = "1.56.3+0"
 
 [[deps.Parameters]]
 deps = ["OrderedCollections", "UnPack"]
@@ -1793,9 +1781,9 @@ version = "1.40.13"
 
 [[deps.Polyester]]
 deps = ["ArrayInterface", "BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "ManualMemory", "PolyesterWeave", "Static", "StaticArrayInterface", "StrideArraysCore", "ThreadingUtilities"]
-git-tree-sha1 = "2082cc4be5e765bd982ed04ea06c068f4f702410"
+git-tree-sha1 = "6f7cd22a802094d239824c57d94c8e2d0f7cfc7d"
 uuid = "f517fe37-dbe3-4b94-8317-1923a5111588"
-version = "0.7.17"
+version = "0.7.18"
 
 [[deps.PolyesterWeave]]
 deps = ["BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "Static", "ThreadingUtilities"]
@@ -1843,6 +1831,10 @@ deps = ["Unicode"]
 uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 version = "1.11.0"
 
+[[deps.Profile]]
+uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79"
+version = "1.11.0"
+
 [[deps.PtrArrays]]
 git-tree-sha1 = "1d36ef11a9aaf1e8b74dacc6a731dd1de8fd493d"
 uuid = "43287f4e-b6f4-7ad1-bb20-aadabca52c3d"
@@ -1969,9 +1961,9 @@ version = "1.16.1"
 
 [[deps.RuntimeGeneratedFunctions]]
 deps = ["ExprTools", "SHA", "Serialization"]
-git-tree-sha1 = "7cb9d10026d630ce2dd2a1fc6006a3d5041b34c0"
+git-tree-sha1 = "86a8a8b783481e1ea6b9c91dd949cb32191f8ab4"
 uuid = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
-version = "0.5.14"
+version = "0.5.15"
 
 [[deps.SHA]]
 uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce"
@@ -1984,15 +1976,15 @@ version = "0.1.0"
 
 [[deps.SPRAL_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "Hwloc_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"]
-git-tree-sha1 = "11f3da4b25efacd1cec8e263421f2a9003a5e8e0"
+git-tree-sha1 = "4f9833187a65ead66ed1907b44d5f20606282e3f"
 uuid = "319450e9-13b8-58e8-aa9f-8fd1420848ab"
-version = "2024.5.8+0"
+version = "2025.5.20+0"
 
 [[deps.SciMLBase]]
-deps = ["ADTypes", "Accessors", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
-git-tree-sha1 = "2fd047893cb0089b180fcbb7e8434ba15dcc2841"
+deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
+git-tree-sha1 = "d7bef263e23c7f5392071e4538b1949cee7ae458"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.87.0"
+version = "2.99.0"
 
     [deps.SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -2017,15 +2009,15 @@ version = "2.87.0"
 
 [[deps.SciMLJacobianOperators]]
 deps = ["ADTypes", "ArrayInterface", "ConcreteStructs", "ConstructionBase", "DifferentiationInterface", "FastClosures", "LinearAlgebra", "SciMLBase", "SciMLOperators"]
-git-tree-sha1 = "d563758f3ce5153810adebc534d88e24d34eeb95"
+git-tree-sha1 = "7da1216346ad79499d08d7e2a3dbf297dc80c829"
 uuid = "19f34311-ddf3-4b8b-af20-060888a46c0e"
-version = "0.1.5"
+version = "0.1.6"
 
 [[deps.SciMLOperators]]
 deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"]
-git-tree-sha1 = "1c4b7f6c3e14e6de0af66e66b86d525cae10ecb4"
+git-tree-sha1 = "d82853c515a8d9d42c1ab493a2687a37f1e26c91"
 uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
-version = "0.3.13"
+version = "0.4.0"
 weakdeps = ["SparseArrays", "StaticArraysCore"]
 
     [deps.SciMLOperators.extensions]
@@ -2094,12 +2086,6 @@ version = "2.5.0"
     ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
     Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
 
-[[deps.SimpleTraits]]
-deps = ["InteractiveUtils", "MacroTools"]
-git-tree-sha1 = "5d7e3f4e11935503d3ecaf7186eac40602e7d231"
-uuid = "699a6c99-e7fa-54fc-8d76-47d257e15c1d"
-version = "0.9.4"
-
 [[deps.SimpleUnPack]]
 git-tree-sha1 = "58e6353e72cde29b90a69527e56df1b5c3d8c437"
 uuid = "ce78b400-467f-4804-87d8-8f486da07d0a"
@@ -2128,9 +2114,9 @@ version = "1.11.0"
 
 [[deps.SparseConnectivityTracer]]
 deps = ["ADTypes", "DocStringExtensions", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "fadb2d7010dd92912e5eb31a493613ad4b8c9583"
+git-tree-sha1 = "2c3cbb3703f77045d4eb891b2831ca132ef4183c"
 uuid = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
-version = "0.6.18"
+version = "0.6.19"
 
     [deps.SparseConnectivityTracer.extensions]
     SparseConnectivityTracerDataInterpolationsExt = "DataInterpolations"
@@ -2146,31 +2132,11 @@ version = "0.6.18"
     NaNMath = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
     SpecialFunctions = "276daf66-3868-5448-9aa4-cd146d93841b"
 
-[[deps.SparseDiffTools]]
-deps = ["ADTypes", "Adapt", "ArrayInterface", "Compat", "DataStructures", "FiniteDiff", "ForwardDiff", "Graphs", "LinearAlgebra", "PackageExtensionCompat", "Random", "Reexport", "SciMLOperators", "Setfield", "SparseArrays", "StaticArrayInterface", "StaticArrays", "UnPack", "VertexSafeGraphs"]
-git-tree-sha1 = "ccbf06a08573200853b1bd06203d8ccce8449578"
-uuid = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
-version = "2.26.0"
-
-    [deps.SparseDiffTools.extensions]
-    SparseDiffToolsEnzymeExt = "Enzyme"
-    SparseDiffToolsPolyesterExt = "Polyester"
-    SparseDiffToolsPolyesterForwardDiffExt = "PolyesterForwardDiff"
-    SparseDiffToolsSymbolicsExt = "Symbolics"
-    SparseDiffToolsZygoteExt = "Zygote"
-
-    [deps.SparseDiffTools.weakdeps]
-    Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9"
-    Polyester = "f517fe37-dbe3-4b94-8317-1923a5111588"
-    PolyesterForwardDiff = "98d1487c-24ca-40b6-b7ab-df2af84e126b"
-    Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-    Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
-
 [[deps.SparseMatrixColorings]]
-deps = ["ADTypes", "DocStringExtensions", "LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "76e9564f0de0d1d7a46095e758ae13ceba680cfb"
+deps = ["ADTypes", "DocStringExtensions", "LinearAlgebra", "PrecompileTools", "Random", "SparseArrays"]
+git-tree-sha1 = "ab958b4fec46d1f1d057bb8e2a99bfdb90744646"
 uuid = "0a514795-09f3-496d-8182-132a7b665d35"
-version = "0.4.19"
+version = "0.4.20"
 
     [deps.SparseMatrixColorings.extensions]
     SparseMatrixColoringsCliqueTreesExt = "CliqueTrees"
@@ -2241,9 +2207,9 @@ weakdeps = ["SparseArrays"]
 
 [[deps.StatsAPI]]
 deps = ["LinearAlgebra"]
-git-tree-sha1 = "1ff449ad350c9c4cbc756624d6f8a8c3ef56d3ed"
+git-tree-sha1 = "9d72a13a3f4dd3795a195ac5a44d7d6ff5f552ff"
 uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0"
-version = "1.7.0"
+version = "1.7.1"
 
 [[deps.StatsBase]]
 deps = ["AliasTables", "DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"]
@@ -2301,9 +2267,9 @@ version = "1.0.1"
 
 [[deps.Tables]]
 deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "OrderedCollections", "TableTraits"]
-git-tree-sha1 = "598cd7c1f68d1e205689b1c2fe65a9f85846f297"
+git-tree-sha1 = "f2c1efbc8f3a609aadf318094f8fc5204bdaf344"
 uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c"
-version = "1.12.0"
+version = "1.12.1"
 
 [[deps.Tar]]
 deps = ["ArgTools", "SHA"]
@@ -2351,9 +2317,9 @@ uuid = "781d530d-4396-4725-bb49-402e4bee1e77"
 version = "1.4.0"
 
 [[deps.Tutorials]]
-path = "/Users/ocots/Research/logiciels/dev/control-toolbox/Tutorials"
+path = "C:\\Users\\youri\\Desktop\\ENSEEIHT\\Stage\\Tutorials.jl"
 uuid = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9"
-version = "0.1.3"
+version = "0.1.4"
 
 [[deps.URIs]]
 git-tree-sha1 = "cbbebadbcc76c5ca1cc4b4f3b0614b3e603b5000"
@@ -2382,32 +2348,28 @@ version = "0.4.1"
 
 [[deps.Unitful]]
 deps = ["Dates", "LinearAlgebra", "Random"]
-git-tree-sha1 = "d62610ec45e4efeabf7032d67de2ffdea8344bed"
+git-tree-sha1 = "02c1ac8104c9cf941395db79c611483909c04c7d"
 uuid = "1986cc42-f94f-5a68-af5c-568840ba703d"
-version = "1.22.1"
-weakdeps = ["ConstructionBase", "InverseFunctions"]
+version = "1.23.0"
+weakdeps = ["ConstructionBase", "ForwardDiff", "InverseFunctions", "Printf"]
 
     [deps.Unitful.extensions]
     ConstructionBaseUnitfulExt = "ConstructionBase"
+    ForwardDiffExt = "ForwardDiff"
     InverseFunctionsUnitfulExt = "InverseFunctions"
+    PrintfExt = "Printf"
 
 [[deps.UnitfulLatexify]]
 deps = ["LaTeXStrings", "Latexify", "Unitful"]
-git-tree-sha1 = "975c354fcd5f7e1ddcc1f1a23e6e091d99e99bc8"
+git-tree-sha1 = "af305cc62419f9bd61b6644d19170a4d258c7967"
 uuid = "45397f5d-5981-4c77-b2b3-fc36d6e9b728"
-version = "1.6.4"
+version = "1.7.0"
 
 [[deps.Unzip]]
 git-tree-sha1 = "ca0969166a028236229f63514992fc073799bb78"
 uuid = "41fe7b60-77ed-43a1-b4f0-825fd5a5650d"
 version = "0.2.0"
 
-[[deps.VertexSafeGraphs]]
-deps = ["Graphs"]
-git-tree-sha1 = "8351f8d73d7e880bfc042a8b6922684ebeafb35c"
-uuid = "19fa3120-7c27-5ec5-8db8-b0b0aa330d6f"
-version = "0.2.0"
-
 [[deps.Vulkan_Loader_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Wayland_jll", "Xorg_libX11_jll", "Xorg_libXrandr_jll", "xkbcommon_jll"]
 git-tree-sha1 = "2f0486047a07670caad3a81a075d2e518acc5c59"
@@ -2415,10 +2377,10 @@ uuid = "a44049a8-05dd-5a78-86c9-5fde0876e88c"
 version = "1.3.243+0"
 
 [[deps.Wayland_jll]]
-deps = ["Artifacts", "EpollShim_jll", "Expat_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Pkg", "XML2_jll"]
-git-tree-sha1 = "85c7811eddec9e7f22615371c3cc81a504c508ee"
+deps = ["Artifacts", "EpollShim_jll", "Expat_jll", "JLLWrappers", "Libdl", "Libffi_jll", "XML2_jll"]
+git-tree-sha1 = "49be0be57db8f863a902d59c0083d73281ecae8e"
 uuid = "a2964d1f-97da-50d4-b82a-358c7fce9d89"
-version = "1.21.0+2"
+version = "1.23.1+0"
 
 [[deps.Wayland_protocols_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
@@ -2541,28 +2503,28 @@ uuid = "12413925-8142-5f55-bb0e-6d7ca50bb09b"
 version = "0.4.0+1"
 
 [[deps.Xorg_xcb_util_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_libxcb_jll"]
-git-tree-sha1 = "e7fd7b2881fa2eaa72717420894d3938177862d1"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll"]
+git-tree-sha1 = "68da27247e7d8d8dafd1fcf0c3654ad6506f5f97"
 uuid = "2def613f-5ad1-5310-b15b-b15d46f528f5"
-version = "0.4.0+1"
+version = "0.4.1+0"
 
 [[deps.Xorg_xcb_util_keysyms_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"]
-git-tree-sha1 = "d1151e2c45a544f32441a567d1690e701ec89b00"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xcb_util_jll"]
+git-tree-sha1 = "44ec54b0e2acd408b0fb361e1e9244c60c9c3dd4"
 uuid = "975044d2-76e6-5fbe-bf08-97ce7c6574c7"
-version = "0.4.0+1"
+version = "0.4.1+0"
 
 [[deps.Xorg_xcb_util_renderutil_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"]
-git-tree-sha1 = "dfd7a8f38d4613b6a575253b3174dd991ca6183e"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xcb_util_jll"]
+git-tree-sha1 = "5b0263b6d080716a02544c55fdff2c8d7f9a16a0"
 uuid = "0d47668e-0667-5a69-a72c-f761630bfb7e"
-version = "0.3.9+1"
+version = "0.3.10+0"
 
 [[deps.Xorg_xcb_util_wm_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Xorg_xcb_util_jll"]
-git-tree-sha1 = "e78d10aab01a4a154142c5006ed44fd9e8e31b67"
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xcb_util_jll"]
+git-tree-sha1 = "f233c83cad1fa0e70b7771e0e21b061a116f2763"
 uuid = "c22f9ab0-d5fe-5066-847c-f4bb1cd4e361"
-version = "0.4.1+1"
+version = "0.4.2+0"
 
 [[deps.Xorg_xkbcomp_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxkbfile_jll"]
@@ -2641,10 +2603,10 @@ uuid = "1183f4f0-6f2a-5f1a-908b-139f9cdfea6f"
 version = "0.2.2+0"
 
 [[deps.libevdev_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "141fe65dc3efabb0b1d5ba74e91f6ad26f84cc22"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "56d643b57b188d30cccc25e331d416d3d358e557"
 uuid = "2db6ffa8-e38f-5e21-84af-90c45d0032cc"
-version = "1.11.0+0"
+version = "1.13.4+0"
 
 [[deps.libfdk_aac_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -2671,10 +2633,10 @@ uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
 version = "1.3.7+2"
 
 [[deps.mtdev_jll]]
-deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
-git-tree-sha1 = "814e154bdb7be91d78b6802843f76b6ece642f11"
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "b4d631fd51f2e9cdd93724ae25b2efc198b059b1"
 uuid = "009596ad-96f7-51b1-9f1b-5ce2d5e8a71e"
-version = "1.1.6+0"
+version = "1.1.7+0"
 
 [[deps.nghttp2_jll]]
 deps = ["Artifacts", "Libdl"]
diff --git a/docs/src/assets/Project.toml b/docs/src/assets/Project.toml
index ef12086..0cc8353 100644
--- a/docs/src/assets/Project.toml
+++ b/docs/src/assets/Project.toml
@@ -1,4 +1,5 @@
 [deps]
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 DifferentiationInterface = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
@@ -12,10 +13,12 @@ NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
 OptimalControl = "5f98b655-cc9a-415a-b60e-744165666948"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 Tutorials = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9"
 
 [compat]
+BenchmarkTools = "1.6"
 DataFrames = "1.7"
 DifferentiationInterface = "0.7"
 Documenter = "1.8"
@@ -29,5 +32,6 @@ NonlinearSolve = "4.6"
 OptimalControl = "1.0"
 OrdinaryDiffEq = "6.93"
 Plots = "1.40"
+Printf = "1"
 Suppressor = "0.2"
-julia = "1"
+julia = "1.10"
diff --git a/docs/src/tutorial-goddard.md b/docs/src/tutorial-goddard.md
index 91ead7b..986c38e 100644
--- a/docs/src/tutorial-goddard.md
+++ b/docs/src/tutorial-goddard.md
@@ -1,3 +1,7 @@
+```@meta
+Draft = false
+```
+
 # [Direct and indirect methods for the Goddard problem](@id tutorial-goddard)
 
 ## Introduction
@@ -40,6 +44,7 @@ The [OrdinaryDiffEq.jl](https://docs.sciml.ai/OrdinaryDiffEq) package is used to
 define the shooting function for the indirect method and the [MINPACK.jl](https://github.com/sglyon/MINPACK.jl) package permits to solve the shooting equation.
 
 ```@example main-goddard
+using BenchmarkTools
 using OptimalControl  # to define the optimal control problem and more
 using NLPModelsIpopt  # to solve the problem via a direct method
 using OrdinaryDiffEq  # to get the Flow function from OptimalControl
@@ -350,6 +355,46 @@ shoot!(s, p0, t1, t2, t3, tf)
 println("\nNorm of the shooting function: ‖s‖ = ", norm(s), "\n")
 ```
 
+# Comparision with NonlinearSolve.jl
+
+```@example main-goddard
+# NonlinearSolve resolution
+nle_new!(s, ξ, p) = shoot!(s, ξ[1:3], ξ[4], ξ[5], ξ[6], ξ[7])
+prob_nls = NonlinearProblem(nle_new!, ξ)
+sol_nls = solve(prob_nls; show_trace=Val(true))
+
+ξ_nls = sol_nls.u
+p0_nls = ξ_nls[1:3]
+t1 = ξ_nls[4]
+t2 = ξ_nls[5]
+t3 = ξ_nls[6]
+tf = ξ_nls[7]
+
+println("\nNonlinearSolve results :")
+println("p0 = ", p0_nls)
+println("t1 = ", t1)
+println("t2 = ", t2)
+println("t3 = ", t3)
+println("tf = ", tf)
+
+s = similar(p0_nls, 7)
+shoot!(s, p0_nls, t1, t2, t3, tf)
+
+println("\nNorm of the shooting function: ‖s‖ = ", norm(s), "\n")
+```
+
+The results found for the different parameters are extremely close so now, lets benchmark these two resolution to compare their performances.
+
+```@example main-goddard
+@benchmark fsolve(nle!, jnle!, ξ, show_trace=false) #MINPACK
+```
+
+```@example main-goddard
+@benchmark solve(prob_nls; show_trace=Val(false)) #NonlinearSolve
+```
+
+The MINPACK (fsolve) method is much faster than NonlinearSolve (solve) on this problem. It also uses less memory (1.95 GiB vs 6.10 GiB). Both methods have a similar GC overhead (~24–25%), but MINPACK is overall more efficient here.
+
 ## [Plot of the solution](@id tutorial-goddard-plot)
 
 We plot the solution of the indirect solution (in red) over the solution of the direct method