diff --git a/setup.cfg b/setup.cfg
index 529d445..869345d 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.2.3
+current_version = 0.2.4
 commit = False
 tag = False
 
diff --git a/setup.py b/setup.py
index c8900a2..e185d36 100644
--- a/setup.py
+++ b/setup.py
@@ -39,6 +39,6 @@
     install_requires=install_requires,
     extras_require={"dev": dev_requires},
     url="https://github.com/hyumo/qfmu",
-    version="0.2.3",
+    version="0.2.4",
     zip_safe=False,
 )
diff --git a/src/qfmu/__init__.py b/src/qfmu/__init__.py
index 3ef9d39..82c7f6f 100644
--- a/src/qfmu/__init__.py
+++ b/src/qfmu/__init__.py
@@ -4,7 +4,7 @@
 
 __author__ = """Hang Yu"""
 __email__ = "yuhang.neu@gmail.com"
-__version__ = "0.2.3"
+__version__ = "0.2.4"
 
 __module_path__ = pathlib.Path(__file__).parent
 __template_path__ = __module_path__ / "codegen" / "templates"
diff --git a/src/qfmu/codegen/templates/fmi2model.jinja b/src/qfmu/codegen/templates/fmi2model.jinja
index 5617846..ed7ba2f 100644
--- a/src/qfmu/codegen/templates/fmi2model.jinja
+++ b/src/qfmu/codegen/templates/fmi2model.jinja
@@ -180,7 +180,7 @@ static void updateDerivatives(ModelInstance* comp){
  *  \todo TODO: Implement other integration methods
  */
 static void updateStates(ModelInstance* comp, fmi2Real h){
-    const fmi2Real dt = {{ dt }};
+    const fmi2Real dt = min({{ dt }}, h);
     size_t i = 0;
     for (i = 0; i < NX; i++) {
         fmi2Real hc = h;
diff --git a/src/qfmu/codegen/templates/fmi2modelDescription.jinja b/src/qfmu/codegen/templates/fmi2modelDescription.jinja
index 191fe8d..fcdbc48 100644
--- a/src/qfmu/codegen/templates/fmi2modelDescription.jinja
+++ b/src/qfmu/codegen/templates/fmi2modelDescription.jinja
@@ -51,25 +51,25 @@
       <Real derivative="{{ i+1 }}"/>
     </ScalarVariable>
 {% endfor %}
-{% for i in range(model.nu) %}
-    <ScalarVariable name="u{{i+1}}" valueReference="{{model.vr.u[i]}}" description="Model input {{i+1}}" causality="input">
-      <Real start="{{model.u0[i]}}"/>
-    </ScalarVariable>
-{% endfor %}
-{% for i in range(model.ny) %}
-    <ScalarVariable name="y{{i+1}}" valueReference="{{model.vr.y[i]}}" description="Model output {{i+1}}" causality="output">
-      <Real/>
-    </ScalarVariable>
-{% endfor %}
 {% for i in range(model.nx) %}
     <ScalarVariable name="x{{i+1}}_start" valueReference="{{model.vr.x0[i]}}" description="Start value for x{{i+1}}" causality="parameter" variability="fixed">
       <Real start="{{model.x0[i]}}"/>
     </ScalarVariable>
 {% endfor %}
+{% for i in range(model.nu) %}
+    <ScalarVariable name="u{{i+1}}" valueReference="{{model.vr.u[i]}}" description="Model input {{i+1}}" causality="input">
+      <Real start="{{model.u0[i]}}"/>
+    </ScalarVariable>
+{% endfor %}
 {% for i in range(model.nu) %}
     <ScalarVariable name="u{{i+1}}_start" valueReference="{{model.vr.u0[i]}}" description="Start value for u{{i+1}}" causality="parameter" variability="fixed">
       <Real start="{{model.u0[i]}}"/>
     </ScalarVariable>
+{% endfor %}
+{% for i in range(model.ny) %}
+    <ScalarVariable name="y{{i+1}}" valueReference="{{model.vr.y[i]}}" description="Model output {{i+1}}" causality="output">
+      <Real/>
+    </ScalarVariable>
 {% endfor %}
   </ModelVariables>
   
diff --git a/src/qfmu/model/pid.py b/src/qfmu/model/pid.py
index 5b82fd3..1d8d54f 100644
--- a/src/qfmu/model/pid.py
+++ b/src/qfmu/model/pid.py
@@ -55,8 +55,8 @@ def __init__(
             self.m.A.shape[0],
             1,
             1,
-            [x0] if x0 is not None else None,
-            [u0] if u0 is not None else None,
+            np.array([x0]) if x0 is not None else None,
+            np.array([u0]) if u0 is not None else None,
         )
 
         logging.info(f"P = {P}")
diff --git a/src/qfmu/model/tf.py b/src/qfmu/model/tf.py
index d132cba..a2dfccc 100644
--- a/src/qfmu/model/tf.py
+++ b/src/qfmu/model/tf.py
@@ -17,7 +17,13 @@ def __init__(
         u0: Optional[float] = None,
     ):
         self._A, self._B, self._C, self._D = signal.tf2ss(num, den)
-        super().__init__(nx=self._A.shape[0], nu=1, ny=1, x0=x0, u0=u0)
+        super().__init__(
+            nx=self._A.shape[0],
+            nu=1,
+            ny=1,
+            x0=np.array([x0]) if x0 is not None else np.zeros(self._A.shape[0]),
+            u0=np.array([u0]) if u0 is not None else np.zeros(1),
+        )
 
         logging.info(f"{signal.TransferFunction(num, den)}")
 
diff --git a/src/qfmu/utils.py b/src/qfmu/utils.py
index 749a9a5..00bd87c 100644
--- a/src/qfmu/utils.py
+++ b/src/qfmu/utils.py
@@ -12,7 +12,7 @@
 import numpy as np
 from jinja2 import Environment, FileSystemLoader, select_autoescape
 
-from qfmu import __include_path__, __platform__, __version__, __template_path__
+from qfmu import __include_path__, __platform__, __template_path__, __version__
 from qfmu.codegen.utils import array2cstr
 from qfmu.model.lti import LTI