diff --git a/Project.toml b/Project.toml
index a0c40a7..08c2cf1 100644
--- a/Project.toml
+++ b/Project.toml
@@ -35,15 +35,14 @@ Timers = "0.1.5"
 julia = "1.10"
 
 [extras]
+ControlPlots = "23c2ee80-7a9e-4350-b264-8e670f12517c"
 HTTP = "cd3eb016-35fb-5094-929b-558a96fad6f3"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KiteModels = "b94af626-7959-4878-9336-2adc27959007"
 KitePodModels = "9de5dc81-f971-414a-927b-652b2f41c539"
 PackageCompiler = "9b87118b-4619-50d2-8e1e-99f35a4d4d9d"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-PyPlot = "d330b81b-6aea-500a-939a-2ce795aea3ee"
 StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test", "KiteModels", "PyPlot", "KitePodModels", "PackageCompiler", "Plots"]
+test = ["Test", "KiteModels", "KitePodModels", "PackageCompiler", "ControlPlots"]
diff --git a/examples/depower.jl b/examples/depower.jl
index d27dadc..da3166c 100644
--- a/examples/depower.jl
+++ b/examples/depower.jl
@@ -64,9 +64,10 @@ integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE
-    using Plots
-    plot(range(0.5,TIME,step=0.5), time_vec, ylabel="CPU time [%]", xlabel="Simulation time [s]", legend=false)
-    savefig("performance.png")
+    using ControlPlots
+    p = plot(range(0.25,TIME,step=0.25), time_vec; ylabel="CPU time [%]", xlabel="Simulation time [s]")
+    display(p)
+    plt.savefig("performance.png")
 end
 # mean with :Dense integrator: 6.66% CPU time, 15 times realtime
 # mean with :GMRES integrator: 1.96% CPU time, 51 times realtime
diff --git a/examples/depower_bench_video.jl b/examples/depower_bench_video.jl
index 6b143f4..fabd3ec 100644
--- a/examples/depower_bench_video.jl
+++ b/examples/depower_bench_video.jl
@@ -69,9 +69,8 @@ integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE
-    using Plots
-    plot(range(0.5,TIME,step=0.5), time_vec, ylabel="CPU time [%]", xlabel="Simulation time [s]", legend=false)
-    savefig("performance.png")
+    using ControlPlots
+    plot(range(0.5,TIME,step=0.5), time_vec; ylabel="CPU time [%]", xlabel="Simulation time [s]")
 end
 # mean with :Dense integrator: 6.66% CPU time, 15 times realtime
 # mean with :GMRES integrator: 1.96% CPU time, 51 times realtime
diff --git a/examples/depower_simple.jl b/examples/depower_simple.jl
index ccba331..481bdee 100644
--- a/examples/depower_simple.jl
+++ b/examples/depower_simple.jl
@@ -41,10 +41,13 @@ function simulate(integrator, steps)
             set_depower_steering(kps4.kcu, 0.35, 0.0)    
         end
         t_sim = @elapsed KiteModels.next_step!(kps4, integrator; set_speed=0, dt=dt)
+        if i==1
+            t_sim = 0
+        end
         t_gc = 0.0
-        # if t_sim < 0.08*dt
-        #     t_gc = @elapsed GC.gc(false)
-        # end
+        if t_sim < 0.08*dt
+            t_gc = @elapsed GC.gc(false)
+        end
         t_show = 0.0
         if mod(i, TIME_LAPSE_RATIO) == 0 || i == steps
             t_show = @elapsed update_system(viewer, SysState(kps4); scale = 0.08, kite_scale=3.0)
@@ -101,13 +104,13 @@ toc()
 play()
 stop(viewer)
 if PLOT_PERFORMANCE
-    include("plot.jl")
+    using ControlPlots
     if false
         plotx(range(dt,TIME,step=dt), time_vec_gc, time_vec_sim, time_vec_sim.+time_vec_gc;
-              labels=["GC time","sim_time","total_time"],
+              ylabels=["GC time","sim_time","total_time"],
               fig="depower_simple_timing")
     else
-        plot1(range(3*TIME_LAPSE_RATIO*dt,TIME,step=dt*TIME_LAPSE_RATIO), time_vec_tot[3:end],
+        plot(range(3*TIME_LAPSE_RATIO*dt,TIME,step=dt*TIME_LAPSE_RATIO), time_vec_tot[3:end];
               ylabel="time per frame [ms]")
     end
 end
diff --git a/examples/joystick.jl b/examples/joystick.jl
index e963c38..fc85399 100644
--- a/examples/joystick.jl
+++ b/examples/joystick.jl
@@ -108,6 +108,7 @@ on(jsbuttons.btn2) do val; if val stop(viewer) end; end
 
 play()
 stop(viewer)
-using Plots
-plot(range(5*TIME_LAPSE_RATIO*dt,steps*dt,step=dt*TIME_LAPSE_RATIO), time_vec_tot[5:steps],  xlabel="Simulation time [s]", ylabel="time per frame [ms]", label="time_tot")
-plot!(range(5*TIME_LAPSE_RATIO*dt,steps*dt,step=dt*TIME_LAPSE_RATIO), time_vec_gc[5:steps], label="time_gc")
+using ControlPlots
+plot(range(5*TIME_LAPSE_RATIO*dt,steps*dt,step=dt*TIME_LAPSE_RATIO), [time_vec_tot[5:steps], time_vec_gc[5:steps]];  
+     xlabel="Simulation time [s]", ylabel="time per frame [ms]", labels=["time total", "time_gc"])    
+
diff --git a/examples/plot.jl b/examples/plot.jl
deleted file mode 100644
index 219ad0d..0000000
--- a/examples/plot.jl
+++ /dev/null
@@ -1,62 +0,0 @@
-using Pkg
-if ! ("Plots" ∈ keys(Pkg.project().dependencies))
-    using TestEnv; TestEnv.activate()
-end
-import PyPlot as plt
-
-function plot1(X, Y; xlabel="time [s]", ylabel="", fig="")
-    if fig != ""
-        plt.figure(fig)
-    end
-    plt.xlabel(xlabel, fontsize=14);
-    plt.ylabel(ylabel, fontsize=14);
-    plt.plot(X, Y; label=ylabel)
-    plt.grid(true)
-    nothing
-end
-
-function plotxy(X, Y; xlabel="", ylabel, fig="")
-    if fig != ""
-        plt.figure(fig)
-    end
-    p = plt.plot(X, Y)
-    plt.xlabel(xlabel, fontsize=14);
-    plt.ylabel(ylabel, fontsize=14);  
-    plt.grid(true)
-    plt.tight_layout()
-    nothing
-end
-
-function plotx(X, Y...; labels=nothing, fig="", title="")
-    len=length(Y)
-    fig_ = plt.figure(fig, figsize=(8, len*2))
-    i=1
-    ax=[]
-    for y in Y
-        subplot=100len+10+i
-        if i==1
-            push!(ax, plt.subplot(subplot))
-        else
-            push!(ax, plt.subplot(subplot, sharex=ax[1]))
-        end
-        if i==1
-            plt.suptitle(title, fontsize=14) # Super title
-        end
-        if ! isnothing(labels)
-            lbl=labels[i]
-        else
-            lbl=""
-        end
-        plt.plot(X, y, label=lbl)
-        plt.ylabel(lbl, fontsize=14);  
-        plt.grid(true)
-        if i < len
-            plt.setp(ax[i].get_xticklabels(), visible=false)
-        end
-        i+=1
-    end
-    plt.xlabel("time [s]", fontsize=14)
-    plt.xlim(0, X[end])
-    plt.tight_layout()
-    nothing
-end
diff --git a/examples/reelout.jl b/examples/reelout.jl
index 981a70a..b128724 100644
--- a/examples/reelout.jl
+++ b/examples/reelout.jl
@@ -67,10 +67,10 @@ integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE
-    using Plots
-    plt=plot(range(0.25,TIME,step=0.25), time_vec, ylabel="CPU time [%]", xlabel="Simulation time [s]", legend=false)
-    savefig("performance.png")
-    display(plt)
+    using ControlPlots
+    p = plot(range(0.25,TIME,step=0.25), time_vec; ylabel="CPU time [%]", xlabel="Simulation time [s]")
+    plt.savefig("performance.png")
+    display(p)
 end
 # mean with :Dense integrator: 6.66% CPU time,  15 times realtime
 # mean with :GMRES integrator: 1.96% CPU time,  51 times realtime
diff --git a/examples/steering_bench_video.jl b/examples/steering_bench_video.jl
index e965b46..98e7296 100644
--- a/examples/steering_bench_video.jl
+++ b/examples/steering_bench_video.jl
@@ -73,6 +73,6 @@ integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE
-    using Plots
-    plot(range(0.5,45,step=0.5), time_vec, ylabel="CPU time [%]", xlabel="Simulation time [s]", legend=false)
+    using ControlPlots
+    plot(range(0.1,TIME,step=0.1), time_vec; ylabel="CPU time [%]", xlabel="Simulation time [s]")
 end
diff --git a/performance.png b/performance.png
index 322826c..b092edb 100644
Binary files a/performance.png and b/performance.png differ
diff --git a/test/create_sys_image.jl b/test/create_sys_image.jl
deleted file mode 100644
index 25df26f..0000000
--- a/test/create_sys_image.jl
+++ /dev/null
@@ -1,17 +0,0 @@
-# activate the test environment if needed
-using Pkg
-if ! ("PackageCompiler" ∈ keys(Pkg.project().dependencies))
-    using TestEnv; TestEnv.activate()
-end
-@info "Loading packages ..."
-using StaticArrays, LinearAlgebra, Parameters, KiteUtils, KitePodModels, KiteModels, GLMakie, Plots
-using PackageCompiler
-
-@info "Creating sysimage ..."
-push!(LOAD_PATH,joinpath(pwd(),"src"))
-
-PackageCompiler.create_sysimage(
-    [:StaticArrays, :Parameters, :KiteUtils, :KitePodModels, :KiteModels, :GLMakie, :Plots];
-    sysimage_path="kps-image_tmp.so",
-    precompile_execution_file=joinpath("test", "test_for_precompile.jl")
-)
\ No newline at end of file
diff --git a/test/update_packages.jl b/test/update_packages.jl
deleted file mode 100644
index 7daf50d..0000000
--- a/test/update_packages.jl
+++ /dev/null
@@ -1,5 +0,0 @@
-@info "Updating packages ..."
-using Pkg
-Pkg.instantiate()
-Pkg.update()
-Pkg.precompile()