diff --git a/CHANGELOG.md b/CHANGELOG.md
index f2cc7ccf0..bae4bafb2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [7.4.0](#740)
 - [7.3.0](#730)
 - [7.2.0](#720)
 - [7.1.1](#711)
@@ -11,7 +12,15 @@ Release Versions:
 - [6.3.0](#630)
 - [6.2.0](#620)
 
-## Upcoming changes (in development)
+## 7.4.0
+
+Version 7.4.0 brings Analog and Digital IO State types as a new feature to the `state_representation` module.
+
+### Features
+
+`AnalogIOState` and `DigitalIOState` classes have been added as new state types in `state_representation`.
+
+### Full changelog
 
 - feat: add IO states to state representation (py) (#173)
 - feat: add IO states to state representation (proto) (#172)
diff --git a/VERSION b/VERSION
index ee11304de..ba7f754d0 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-7.3.6
+7.4.0
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index ec331a3a8..881cc7b8c 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.6 CONFIG REQUIRED)
+find_package(control_libraries 7.4.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 00e04fbe1..f6f166a8b 100644
--- a/doxygen/doxygen.conf
+++ b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.6
+PROJECT_NUMBER = 7.4.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index 5903eb1fb..7dc87086f 100644
--- a/protocol/clproto_cpp/CMakeLists.txt
+++ b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.6)
+project(clproto VERSION 7.4.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index 12034bfe1..76c455e9e 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.3.6"
+__version__ = "7.4.0"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index b0c27c968..cd71d8588 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.3.6)
+project(control_libraries VERSION 7.4.0)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)