diff --git a/docs/Project.toml b/docs/Project.toml
index 664f0f1..2f93673 100644
--- a/docs/Project.toml
+++ b/docs/Project.toml
@@ -10,7 +10,7 @@ Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 
 [compat]
 Documenter = "1.10"
-ForwardDiff = "0.10, 1"
+ForwardDiff = "1"
 MINPACK = "1.3"
 NLPModelsIpopt = "0.10"
 OptimalControl = "1.1"
diff --git a/docs/src/assets/Manifest.toml b/docs/src/assets/Manifest.toml
new file mode 100644
index 0000000..7cf1474
--- /dev/null
+++ b/docs/src/assets/Manifest.toml
@@ -0,0 +1,2634 @@
+# This file is machine-generated - editing it directly is not advised
+
+julia_version = "1.11.6"
+manifest_format = "2.0"
+project_hash = "a34acf530aad4a46b4e51442cd5761b8316b1b17"
+
+[[deps.ADNLPModels]]
+deps = ["ADTypes", "ForwardDiff", "LinearAlgebra", "NLPModels", "Requires", "ReverseDiff", "SparseArrays", "SparseConnectivityTracer", "SparseMatrixColorings"]
+git-tree-sha1 = "c51dc1d4eeb37a40f6aecdd08e5cdcddd8332726"
+uuid = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"
+version = "0.8.13"
+
+[[deps.ADTypes]]
+git-tree-sha1 = "7927b9af540ee964cc5d1b73293f1eb0b761a3a1"
+uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
+version = "1.16.0"
+weakdeps = ["ChainRulesCore", "ConstructionBase", "EnzymeCore"]
+
+    [deps.ADTypes.extensions]
+    ADTypesChainRulesCoreExt = "ChainRulesCore"
+    ADTypesConstructionBaseExt = "ConstructionBase"
+    ADTypesEnzymeCoreExt = "EnzymeCore"
+
+[[deps.ANSIColoredPrinters]]
+git-tree-sha1 = "574baf8110975760d391c710b6341da1afa48d8c"
+uuid = "a4c015fc-c6ff-483c-b24f-f7ea428134e9"
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+
+[[deps.ASL_jll]]
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+
+[[deps.AbstractTrees]]
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+
+[[deps.Accessors]]
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+
+    [deps.Accessors.extensions]
+    AxisKeysExt = "AxisKeys"
+    IntervalSetsExt = "IntervalSets"
+    LinearAlgebraExt = "LinearAlgebra"
+    StaticArraysExt = "StaticArrays"
+    StructArraysExt = "StructArrays"
+    TestExt = "Test"
+    UnitfulExt = "Unitful"
+
+    [deps.Accessors.weakdeps]
+    AxisKeys = "94b1ba4f-4ee9-5380-92f1-94cde586c3c5"
+    IntervalSets = "8197267c-284f-5f27-9208-e0e47529a953"
+    LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+    StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+    StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a"
+    Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+    Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
+
+[[deps.Adapt]]
+deps = ["LinearAlgebra", "Requires"]
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+version = "4.3.0"
+weakdeps = ["SparseArrays", "StaticArrays"]
+
+    [deps.Adapt.extensions]
+    AdaptSparseArraysExt = "SparseArrays"
+    AdaptStaticArraysExt = "StaticArrays"
+
+[[deps.AliasTables]]
+deps = ["PtrArrays", "Random"]
+git-tree-sha1 = "9876e1e164b144ca45e9e3198d0b689cadfed9ff"
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+[[deps.ArgTools]]
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+[[deps.ArrayInterface]]
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+
+    [deps.ArrayInterface.extensions]
+    ArrayInterfaceBandedMatricesExt = "BandedMatrices"
+    ArrayInterfaceBlockBandedMatricesExt = "BlockBandedMatrices"
+    ArrayInterfaceCUDAExt = "CUDA"
+    ArrayInterfaceCUDSSExt = "CUDSS"
+    ArrayInterfaceChainRulesCoreExt = "ChainRulesCore"
+    ArrayInterfaceChainRulesExt = "ChainRules"
+    ArrayInterfaceGPUArraysCoreExt = "GPUArraysCore"
+    ArrayInterfaceReverseDiffExt = "ReverseDiff"
+    ArrayInterfaceSparseArraysExt = "SparseArrays"
+    ArrayInterfaceStaticArraysCoreExt = "StaticArraysCore"
+    ArrayInterfaceTrackerExt = "Tracker"
+
+    [deps.ArrayInterface.weakdeps]
+    BandedMatrices = "aae01518-5342-5314-be14-df237901396f"
+    BlockBandedMatrices = "ffab5731-97b5-5995-9138-79e8c1846df0"
+    CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba"
+    CUDSS = "45b445bb-4962-46a0-9369-b4df9d0f772e"
+    ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2"
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527"
+    ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+    StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
+    Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c"
+
+[[deps.ArrayLayouts]]
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+
+    [deps.ArrayLayouts.extensions]
+    ArrayLayoutsSparseArraysExt = "SparseArrays"
+
+[[deps.Artifacts]]
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+
+[[deps.AxisAlgorithms]]
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+[[deps.Base64]]
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+[[deps.BitFlags]]
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+
+[[deps.BitTwiddlingConvenienceFunctions]]
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+
+[[deps.BracketingNonlinearSolve]]
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+weakdeps = ["ChainRulesCore", "ForwardDiff"]
+
+    [deps.BracketingNonlinearSolve.extensions]
+    BracketingNonlinearSolveChainRulesCoreExt = ["ChainRulesCore", "ForwardDiff"]
+    BracketingNonlinearSolveForwardDiffExt = "ForwardDiff"
+
+[[deps.Bzip2_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
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+[[deps.CPUSummary]]
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+    [deps.CTBase.extensions]
+    CTBaseDocstrings = ["HTTP", "JSON"]
+
+[[deps.CTDirect]]
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+
+    [deps.CTDirect.extensions]
+    CTDirectExtADNLP = ["ADNLPModels"]
+    CTDirectExtExa = ["ExaModels"]
+    CTDirectExtIpopt = ["NLPModelsIpopt"]
+    CTDirectExtKnitro = ["NLPModelsKnitro"]
+    CTDirectExtMadNLP = ["MadNLP"]
+
+    [deps.CTDirect.weakdeps]
+    ADNLPModels = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"
+    ExaModels = "1037b233-b668-4ce9-9b63-f9f681f55dd2"
+    MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
+    NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
+    NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
+
+[[deps.CTFlows]]
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+    [deps.CTFlows.extensions]
+    CTFlowsODE = "OrdinaryDiffEq"
+
+[[deps.CTModels]]
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+    [deps.CTModels.extensions]
+    CTModelsJLD = "JLD2"
+    CTModelsJSON = "JSON3"
+    CTModelsPlots = "Plots"
+
+    [deps.CTModels.weakdeps]
+    JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
+    JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
+    Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+
+[[deps.CTParser]]
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+    [deps.CTParser.weakdeps]
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+
+[[deps.Cairo_jll]]
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+    [deps.ChainRulesCore.extensions]
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+[[deps.Colors]]
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diff --git a/docs/src/assets/Project.toml b/docs/src/assets/Project.toml
new file mode 100644
index 0000000..be38171
--- /dev/null
+++ b/docs/src/assets/Project.toml
@@ -0,0 +1,20 @@
+[deps]
+Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+Kepler = "459d104a-0eb7-491b-905e-d1a4d4db1876"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+MINPACK = "4854310b-de5a-5eb6-a2a5-c1dee2bd17f9"
+NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
+OptimalControl = "5f98b655-cc9a-415a-b60e-744165666948"
+OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+
+[compat]
+Documenter = "1.10"
+ForwardDiff = "1"
+MINPACK = "1.3"
+NLPModelsIpopt = "0.10"
+OptimalControl = "1.1"
+OrdinaryDiffEq = "6"
+Plots = "1.40"
+julia = "1.10"
diff --git a/docs/src/index.md b/docs/src/index.md
index 508551f..50cbd35 100644
--- a/docs/src/index.md
+++ b/docs/src/index.md
@@ -128,7 +128,7 @@ Lf = 3π                                      # Estimation of final longitude
 x0 = [P0, ex0, ey0, hx0, hy0, L0]            # Initial state
 xf = [Pf, exf, eyf, hxf, hyf, Lf]            # Final state
 x(t) = x0 + (xf - x0) * t / tf               # Linear interpolation
-u = [0.1, 0.5, 0.]                        # Initial guess for the control
+u = [0.1, 0.5, 0.]                           # Initial guess for the control
 nlp_init = (state=x, control=u, variable=tf) # Initial guess for the NLP
 
 ocp = @def begin
@@ -160,7 +160,7 @@ plot(nlp_sol)
 ## Shooting (1/2), Tmax = 60 Newtons
 
 ```@example main
-function ur(x, p, tf) # Regular maximising control 
+function ur(t, x, p, tf) # Regular maximising control 
     H1 = p' * F1(x)
     H2 = p' * F2(x)
     H3 = p' * F3(x)