diff --git a/CHANGELOG.md b/CHANGELOG.md
index f39d6015c7f..723cb91b9ba 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed 
 - Remove spurious inclusion of Eigen headers in ExtendedKalmanFilter.h public header, that could create probles when using that header in a downstream project that does not use Eigen (https://github.com/robotology/idyntree/pull/639).
+- Added find_dependency(OsqpEigen) and find_dependency(LibXml2) when iDynTree is compiled as a static library, fixing the use of iDynTree on Windows (https://github.com/robotology/idyntree/pull/642).
+
+### Changed
+- To reduce the possible unexpected problems, the automatic set of the `IDYNTREE_USES_<pkg>` CMake variable when the `<pkg>` CMake package is available in the system has  been removed for Irrlicht and WORHP, as it was already disabled for ASSIMP and ALGLIB (https://github.com/robotology/idyntree/pull/642). To use this dependencies it is now compulsory to set manually the `IDYNTREE_USES_<pkg>` variable to `ON`.
 
 ## [1.0.1] - 2020-01-14
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f2495d51e57..9319f287e3f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,7 +56,7 @@ if(NOT IDYNTREE_ONLY_DOCS)
     # add the actual components of the library
     add_subdirectory(src)
 
-    # List exported dependencies
+    # List exported CMake package dependencies
     set(_IDYNTREE_EXPORTED_DEPENDENCIES "")
     if(IDYNTREE_USES_YARP)
         list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES YARP)
@@ -68,6 +68,13 @@ if(NOT IDYNTREE_ONLY_DOCS)
         list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES orocos_kdl)
     endif()
 
+    # List exported CMake package dependencies when the library is compiled as static
+    set(_IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC "")
+    list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC LibXml2)
+    if(IDYNTREE_USES_OSQPEIGEN)
+        list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC OsqpEigen)
+    endif()
+
     include(InstallBasicPackageFiles)
     install_basic_package_files(iDynTree VARS_PREFIX ${VARS_PREFIX}
                                          VERSION ${${VARS_PREFIX}_VERSION}
@@ -75,7 +82,8 @@ if(NOT IDYNTREE_ONLY_DOCS)
                                          TARGETS_PROPERTY ${VARS_PREFIX}_TARGETS
                                          NO_CHECK_REQUIRED_COMPONENTS_MACRO
                                          ENABLE_COMPATIBILITY_VARS
-                                         DEPENDENCIES ${_IDYNTREE_EXPORTED_DEPENDENCIES})
+                                         DEPENDENCIES ${_IDYNTREE_EXPORTED_DEPENDENCIES}
+                                         PRIVATE_DEPENDENCIES ${_IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC})
 
     include(AddUninstallTarget)
 
diff --git a/cmake/iDynTreeDependencies.cmake b/cmake/iDynTreeDependencies.cmake
index 23b12991a82..faff4d11bb0 100644
--- a/cmake/iDynTreeDependencies.cmake
+++ b/cmake/iDynTreeDependencies.cmake
@@ -86,7 +86,7 @@ if (IDYNTREE_USES_ICUB)
 endif ()
 
 idyntree_handle_dependency(IPOPT)
-idyntree_handle_dependency(Irrlicht)
+idyntree_handle_dependency(Irrlicht DO_NOT_SILENTLY_SEARCH)
 idyntree_handle_dependency(Qt5 COMPONENTS Qml Quick Widgets)
 idyntree_handle_dependency(OsqpEigen MAIN_TARGET OsqpEigen::OsqpEigen)
 idyntree_handle_dependency(ALGLIB DO_NOT_SILENTLY_SEARCH)
@@ -96,6 +96,6 @@ if(IDYNTREE_USES_ALGLIB AND ALGLIB_FOUND)
     message(FATAL_ERROR "Exactly ALGLIB version ${ALGLIB_REQUIRED_VERSION} is required, but ${ALGLIB_VERSION} is available.")
   endif()
 endif()
-idyntree_handle_dependency(WORHP)
+idyntree_handle_dependency(WORHP DO_NOT_SILENTLY_SEARCH)
 # Workaround for https://github.com/robotology/idyntree/issues/599
 idyntree_handle_dependency(ASSIMP DO_NOT_SILENTLY_SEARCH MAIN_TARGET assimp::assimp)