diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 0b2dd67089394ee5c219ec66d919eb4d07a4f927..d3b4eb51940bfdf8dbefb2daf7809c1e9d27c7a4 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -26,6 +26,7 @@
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
 #include <ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h>
 
 #include <memory>
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index 4e17ef0d016a6c12400b4192e993f4e9b10993ae..9e183e77050ab09abf3a5e1b1daa309b087eccf5 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -27,7 +27,6 @@
 #include "MultiDimPIDController.h"
 
 #include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
 
 #include <Eigen/Core>
 
@@ -36,6 +35,11 @@
 
 namespace armarx
 {
+    namespace rtfilters
+    {
+        class RTFilterBase;
+    }
+
     class PIDController :
         public Logging
     {
@@ -77,8 +81,8 @@ namespace armarx
         bool firstRun;
         bool limitless;
         bool threadSafe = true;
-        rtfilters::RTFilterBasePtr differentialFilter;
-        rtfilters::RTFilterBasePtr pdOutputFilter;
+        std::shared_ptr<rtfilters::RTFilterBase> differentialFilter;
+        std::shared_ptr<rtfilters::RTFilterBase> pdOutputFilter;
     private:
         using ScopedRecursiveLock = std::unique_lock<std::recursive_mutex>;
         using ScopedRecursiveLockPtr = std::unique_ptr<ScopedRecursiveLock>;
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 7a7fb5c8dd21363e246ad3a45bfbcdb304640f8b..4944430b100596e3336d6feeb2b45870b5258d8c 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -22,9 +22,9 @@
 
 #pragma once
 
-#include <math.h>
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 #include <vector>
+#include <math.h>
 
 namespace armarx::math
 {