diff --git a/.github/workflows/TagBot.yml b/.github/workflows/TagBot.yml
new file mode 100644
index 000000000..623860f70
--- /dev/null
+++ b/.github/workflows/TagBot.yml
@@ -0,0 +1,15 @@
+name: TagBot
+on:
+  issue_comment:
+    types:
+      - created
+  workflow_dispatch:
+jobs:
+  TagBot:
+    if: github.event_name == 'workflow_dispatch' || github.actor == 'JuliaTagBot'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: JuliaRegistries/TagBot@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          ssh: ${{ secrets.DOCUMENTER_KEY }}
\ No newline at end of file
diff --git a/.github/workflows/juliaci.yml b/.github/workflows/juliaci.yml
index 459c3f56e..3c882dd5f 100644
--- a/.github/workflows/juliaci.yml
+++ b/.github/workflows/juliaci.yml
@@ -15,9 +15,10 @@ jobs:
   julia-ci:
     uses: franckgaga/testitem-workflow/.github/workflows/juliaci.yml@patch-1
     with:
-      memory-threshold: 0.9
-      include-windows-x86: false
-      include-macos-x64: false
+      memory-threshold: 0.9         # try to avoid OOM error on ubuntu and Julia 1.10 
+      include-windows-x86: false    # not worth it, windows 32bit is too uncommon
+      include-macos-x64: false      # most mac are aarch64 nowadays
+      include-macos-aarch64: false  # would like to include it, but too unreliable for now
     permissions: write-all
     secrets:
       codecov_token: ${{ secrets.CODECOV_TOKEN }}
\ No newline at end of file
diff --git a/docs/src/manual/nonlinmpc2.md b/docs/src/manual/nonlinmpc2.md
index 031eb7caf..4d3b906c0 100644
--- a/docs/src/manual/nonlinmpc2.md
+++ b/docs/src/manual/nonlinmpc2.md
@@ -218,7 +218,6 @@ function simDAE(plant, N; x_0)
     x, d = x_0, [10.0]
     for i=1:N
         u     = i ≤ (1N÷4) ? [10.0]  : [11.0]
-        d     = i ≤ (2N÷4) ? [10.0]  : [12.0]
         c_Ain = i ≤ (3N÷4) ? c_Ain_0 : (c_Ain_0 - 0.01)
         plant.p[1] = c_Ain
         y = plant(d)