diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index dfa2c9f..5ee0cca 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -10,8 +10,8 @@ jobs:
   tests:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2.4.0
-    - uses: cachix/install-nix-action@v15
+    - uses: actions/checkout@v4
+    - uses: cachix/install-nix-action@v25
       with:
         nix_path: nixpkgs=channel:nixos-unstable
     - uses: cachix/cachix-action@v10
diff --git a/README.md b/README.md
index f5ea8cc..4086328 100644
--- a/README.md
+++ b/README.md
@@ -56,7 +56,7 @@ f(SignalType &xInt, TangentSignalType x, double t, bool insertHistory = false);
 f(SignalType &xInt, TangentSignalType x, double t, double dt, bool insertHistory = false);
 ```
 
-### System Models
+### Models
 
 *Pending implementations:*
 
diff --git a/include/signals/System.h b/include/signals/Models.h
similarity index 92%
rename from include/signals/System.h
rename to include/signals/Models.h
index 8e94f78..ec318b8 100644
--- a/include/signals/System.h
+++ b/include/signals/Models.h
@@ -6,7 +6,7 @@
 using namespace Eigen;
 
 template<typename DynamicsType>
-class System
+class Model
 {
 public:
     using InputSignalType    = typename DynamicsType::InputSignalType;
@@ -17,7 +17,7 @@ class System
     StateSignalType    x;
     StateDotSignalType xdot;
 
-    System() : params_{std::nullopt}
+    Model() : params_{std::nullopt}
     {
         reset();
     }
@@ -357,30 +357,30 @@ struct RigidBodyDynamics6DOF
 };
 
 template<typename T>
-using Translational1DOFSystem = System<TranslationalDynamics1DOF<T>>;
+using Translational1DOFModel = Model<TranslationalDynamics1DOF<T>>;
 
 template<typename T>
-using Translational2DOFSystem = System<TranslationalDynamics2DOF<T>>;
+using Translational2DOFModel = Model<TranslationalDynamics2DOF<T>>;
 
 template<typename T>
-using Translational3DOFSystem = System<TranslationalDynamics3DOF<T>>;
+using Translational3DOFModel = Model<TranslationalDynamics3DOF<T>>;
 
 template<typename T>
-using Rotational1DOFSystem = System<RotationalDynamics1DOF<T>>;
+using Rotational1DOFModel = Model<RotationalDynamics1DOF<T>>;
 
 template<typename T>
-using Rotational3DOFSystem = System<RotationalDynamics3DOF<T>>;
+using Rotational3DOFModel = Model<RotationalDynamics3DOF<T>>;
 
 template<typename T>
-using RigidBody3DOFSystem = System<RigidBodyDynamics3DOF<T>>;
+using RigidBody3DOFModel = Model<RigidBodyDynamics3DOF<T>>;
 
 template<typename T>
-using RigidBody6DOFSystem = System<RigidBodyDynamics6DOF<T>>;
-
-typedef Translational1DOFSystem<double> Translational1DOFSystemd;
-typedef Translational2DOFSystem<double> Translational2DOFSystemd;
-typedef Translational3DOFSystem<double> Translational3DOFSystemd;
-typedef Rotational1DOFSystem<double>    Rotational1DOFSystemd;
-typedef Rotational3DOFSystem<double>    Rotational3DOFSystemd;
-typedef RigidBody3DOFSystem<double>     RigidBody3DOFSystemd;
-typedef RigidBody6DOFSystem<double>     RigidBody6DOFSystemd;
+using RigidBody6DOFModel = Model<RigidBodyDynamics6DOF<T>>;
+
+typedef Translational1DOFModel<double> Translational1DOFModeld;
+typedef Translational2DOFModel<double> Translational2DOFModeld;
+typedef Translational3DOFModel<double> Translational3DOFModeld;
+typedef Rotational1DOFModel<double>    Rotational1DOFModeld;
+typedef Rotational3DOFModel<double>    Rotational3DOFModeld;
+typedef RigidBody3DOFModel<double>     RigidBody3DOFModeld;
+typedef RigidBody6DOFModel<double>     RigidBody6DOFModeld;
diff --git a/include/signals/Signals.h b/include/signals/Signals.h
index 11767b9..2f2f459 100644
--- a/include/signals/Signals.h
+++ b/include/signals/Signals.h
@@ -3,4 +3,4 @@
 #include "signals/Signal.h"
 #include "signals/Integration.h"
 #include "signals/State.h"
-#include "signals/System.h"
+#include "signals/Models.h"
diff --git a/tests/DynamicsTest.cpp b/tests/DynamicsTest.cpp
index ff1de8e..e161bf6 100644
--- a/tests/DynamicsTest.cpp
+++ b/tests/DynamicsTest.cpp
@@ -10,7 +10,7 @@ BOOST_AUTO_TEST_SUITE(TestDynamics)
 
 BOOST_AUTO_TEST_CASE(TestTransSim)
 {
-    Translational1DOFSystemd sys, sys2;
+    Translational1DOFModeld sys, sys2;
     ScalardSignal            u;
 
     RigidBodyParams1D p;
@@ -48,7 +48,7 @@ BOOST_AUTO_TEST_CASE(TestTransSim)
 
 BOOST_AUTO_TEST_CASE(TestSO2Sim)
 {
-    Rotational1DOFSystemd sys;
+    Rotational1DOFModeld sys;
     Vector1dSignal        u;
 
     RigidBodyParams2D p;
@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_CASE(TestSO2Sim)
 
 BOOST_AUTO_TEST_CASE(TestSO3Sim)
 {
-    Rotational3DOFSystemd sys;
+    Rotational3DOFModeld sys;
     Vector3dSignal        u;
 
     RigidBodyParams3D p;
@@ -122,7 +122,7 @@ BOOST_AUTO_TEST_CASE(TestSO3Sim)
 
 BOOST_AUTO_TEST_CASE(TestSE2Sim)
 {
-    RigidBody3DOFSystemd sys;
+    RigidBody3DOFModeld sys;
     Vector3dSignal       u;
 
     RigidBodyParams2D p;
@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE(TestSE2Sim)
 
 BOOST_AUTO_TEST_CASE(TestSE3Sim)
 {
-    RigidBody6DOFSystemd sys;
+    RigidBody6DOFModeld sys;
     Vector6dSignal       u;
 
     RigidBodyParams3D p;