diff --git a/CMakeLists.txt b/CMakeLists.txt
index 30f4badc..24ac2ea2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -115,7 +115,6 @@ add_library(exponential_filter SHARED
 target_compile_features(exponential_filter PUBLIC cxx_std_17)
 target_include_directories(exponential_filter PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
     $<INSTALL_INTERFACE:include/control_toolbox>
 )
 target_link_libraries(exponential_filter PUBLIC
@@ -148,6 +147,19 @@ if(BUILD_TESTING)
   ament_target_dependencies(pid_publisher_tests rclcpp_lifecycle)
 
   ## Control Filters
+  # exponential_filter
+  add_rostest_with_parameters_gmock(test_exponential_filter test/control_filters/test_exponential_filter.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/control_filters/test_exponential_filter_parameters.yaml
+  )
+  target_link_libraries(test_exponential_filter exponential_filter exponential_filter_parameters)
+  ament_target_dependencies(test_exponential_filter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+  set_tests_properties(test_exponential_filter PROPERTIES TIMEOUT 2)
+
+  ament_add_gmock(test_load_exponential_filter test/control_filters/test_load_exponential_filter.cpp)
+  target_link_libraries(test_load_exponential_filter exponential_filter exponential_filter_parameters)
+  ament_target_dependencies(test_load_exponential_filter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+
+  # low_pass_filter
   add_rostest_with_parameters_gmock(test_low_pass_filter test/control_filters/test_low_pass_filter.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/test/control_filters/test_low_pass_filter_parameters.yaml
   )
@@ -177,6 +189,7 @@ install(
 install(TARGETS control_toolbox
   low_pass_filter low_pass_filter_parameters
   rate_limiter rate_limiter_parameters
+  exponential_filter exponential_filter_parameters
   EXPORT export_control_toolbox
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib