diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 87ab0e3..bc2eb3b 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -18,8 +18,8 @@
         "-I${workspaceFolder}/external_libraries/python_control_to_cpp/python_control",
         "-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/python_numpy",
         "-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/base_matrix",
-        "-I${workspaceFolder}//external_libraries/python_math_to_cpp/base_math",
-        "-I${workspaceFolder}//external_libraries/python_math_to_cpp/python_math",
+        "-I${workspaceFolder}/external_libraries/python_math_to_cpp/base_math",
+        "-I${workspaceFolder}/external_libraries/python_math_to_cpp/python_math",
         "-I${workspaceFolder}/external_libraries/base_utility_cpp/base_utility",
         "${file}",
         "-o",
@@ -46,8 +46,8 @@
         "-I${workspaceFolder}/external_libraries/python_control_to_cpp/python_control",
         "-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/python_numpy",
         "-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/base_matrix",
-        "-I${workspaceFolder}//external_libraries/python_math_to_cpp/base_math",
-        "-I${workspaceFolder}//external_libraries/python_math_to_cpp/python_math",
+        "-I${workspaceFolder}/external_libraries/python_math_to_cpp/base_math",
+        "-I${workspaceFolder}/external_libraries/python_math_to_cpp/python_math",
         "-I${workspaceFolder}/external_libraries/base_utility_cpp/base_utility",
         "${file}",
         "-o",
diff --git a/external_libraries/python_control_to_cpp b/external_libraries/python_control_to_cpp
index f3b4573..4afbe84 160000
--- a/external_libraries/python_control_to_cpp
+++ b/external_libraries/python_control_to_cpp
@@ -1 +1 @@
-Subproject commit f3b45730095eae7335991b19ff1c08a41ef2fbf7
+Subproject commit 4afbe84020e30ee58713a386e30310a3a033e77e
diff --git a/test_sil/SIL_operator.py b/test_sil/SIL_operator.py
index ea169cf..1b3ad5e 100644
--- a/test_sil/SIL_operator.py
+++ b/test_sil/SIL_operator.py
@@ -24,8 +24,9 @@ def generate_cmake_lists_txt(self):
         code_text += f"project({SIL_lib_file_name})\n\n"
 
         code_text += "set(CMAKE_CXX_STANDARD 11)\n"
-        code_text += "set(CMAKE_CXX_STANDARD_REQUIRED ON)\n\n"
-        code_text += "set(CMAKE_CXX_FLAGS_DEBUG \"-O0\")\n"
+        code_text += "set(CMAKE_CXX_STANDARD_REQUIRED ON)\n"
+        code_text += "set(CMAKE_CXX_FLAGS_RELEASE \"-O2\")\n"
+        code_text += "set(CMAKE_CXX_FLAGS_RELEASE \"${CMAKE_CXX_FLAGS_RELEASE} -flto=auto\")\n\n"
 
         code_text += "find_package(pybind11 REQUIRED)\n\n"
 
@@ -93,8 +94,11 @@ def build_pybind11_code(self):
         subprocess.run(f"rm -rf {build_folder}", shell=True)
         subprocess.run(f"mkdir -p {build_folder}", shell=True)
         subprocess.run(
-            f"cmake -S {self.SIL_folder} -B {build_folder}", shell=True)
-        subprocess.run(f"make -C {build_folder}", shell=True)
+            f"cmake -S {self.SIL_folder} -B {build_folder} -DCMAKE_BUILD_TYPE=Release",
+            shell=True
+        )
+        subprocess.run(
+            f"cmake --build {build_folder} --config Release", shell=True)
 
         subprocess.run(
             f"mv {build_folder}/{generated_file_name}.*so {self.SIL_folder}", shell=True)
diff --git a/test_sil/adaptive_mpc_two_wheel_vehicle/two_wheel_vehicle_model_SIL.py b/test_sil/adaptive_mpc_two_wheel_vehicle/two_wheel_vehicle_model_SIL.py
index ca599b5..023f2ba 100644
--- a/test_sil/adaptive_mpc_two_wheel_vehicle/two_wheel_vehicle_model_SIL.py
+++ b/test_sil/adaptive_mpc_two_wheel_vehicle/two_wheel_vehicle_model_SIL.py
@@ -169,7 +169,7 @@ def main():
 
     X_initial = np.array([[0.0], [0.0], [0.0], [0.0], [0.0], [10.0]])
 
-    Np = 4
+    Np = 16
     Nc = 1
 
     Number_of_Delay = 0