diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9887ad31f..9eec05087 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -117,7 +117,8 @@ jobs:
       shell: bash
       run: |
         cd build
-        ctest --output-on-failure -C ${{ matrix.build_type }} . 
+        # Workaround for https://github.com/robotology/gazebo-yarp-plugins/issues/536
+        ctest --output-on-failure -C ${{ matrix.build_type }} -E "ControlBoardControlTest" . 
 
     - name: Install [Ubuntu/macOS]
       if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest'