diff --git a/include/franka/control_tools.h b/include/franka/control_tools.h
index dc5017c3..0bd2c30b 100644
--- a/include/franka/control_tools.h
+++ b/include/franka/control_tools.h
@@ -4,6 +4,7 @@
 
 #include <array>
 #include <cmath>
+#include <string>
 
 /**
  * @file control_tools.h
diff --git a/src/control_types.cpp b/src/control_types.cpp
index 046062e5..fd7d016d 100644
--- a/src/control_types.cpp
+++ b/src/control_types.cpp
@@ -1,5 +1,6 @@
 // Copyright (c) 2017 Franka Emika GmbH
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
+#include <stdexcept>
 #include <type_traits>
 
 #include <franka/control_types.h>