diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4b53859e..680396f4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -24,6 +24,13 @@ All notable changes to this project are documented in this file.
   - `WalkingModule`
 - Tune gains for iCubGenova04
 
+## [0.3.3] - 2020-11-23
+### Added
+
+### Changed
+- Including Eigen as a private dependency in all targets using EigenHelpers (https://github.com/robotology/walking-controllers/pull/62)
+- Copied the parameters of hand_retargeting in joypad_control (https://github.com/robotology/walking-controllers/pull/63)
+
 ## [0.3.2] - 2020-03-21
 ### Changed
 - Add missing includes in `TimeProfiler` (https://github.com/robotology/walking-controllers/pull/60)
@@ -105,7 +112,8 @@ All notable changes to this project are documented in this file.
 - Implement the first version of the `WalkingJoypadModule`
 
 [Unreleased]: https://github.com/robotology/walking-controllers/compare/v0.4.0...devel
-[0.4.0]: https://github.com/robotology/walking-controllers/compare/v0.3.2...v0.4.0
+[0.4.0]: https://github.com/robotology/walking-controllers/compare/v0.3.3...v0.4.0
+[0.3.3]: https://github.com/robotology/walking-controllers/compare/v0.3.2...v0.3.3
 [0.3.2]: https://github.com/robotology/walking-controllers/compare/v0.3.1...v0.3.2
 [0.3.1]: https://github.com/robotology/walking-controllers/compare/v0.3.0...v0.3.1
 [0.3.0]: https://github.com/robotology/walking-controllers/compare/v0.2.0...v0.3.0
diff --git a/src/SimplifiedModelControllers/CMakeLists.txt b/src/SimplifiedModelControllers/CMakeLists.txt
index 63b7ffcc..c1e31329 100644
--- a/src/SimplifiedModelControllers/CMakeLists.txt
+++ b/src/SimplifiedModelControllers/CMakeLists.txt
@@ -31,7 +31,8 @@ if(WALKING_CONTROLLERS_COMPILE_SimplifiedModelControllers)
     WalkingControllers::YarpUtilities
     WalkingControllers::iDynTreeUtilities
     osqp::osqp
-    OsqpEigen::OsqpEigen)
+    OsqpEigen::OsqpEigen
+    Eigen3::Eigen)
 
   add_library(WalkingControllers::${LIBRARY_TARGET_NAME} ALIAS ${LIBRARY_TARGET_NAME})