diff --git a/CHANGELOG.md b/CHANGELOG.md
index f55cf81e0..ce5e0d9b4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions
 
+- [9.0.1](#901)
 - [9.0.0](#900)
 - [8.1.0](#810)
 - [8.0.0](#800)
@@ -15,8 +16,16 @@ Release Versions
 - [6.3.0](#630)
 - [6.2.0](#620)
 
+## 9.0.1
 
-## Upcoming changes (in development)
+Version 9.0.1 is a minor version update that exposes Cartesian and Joint state utility functions from the 
+corresponding `state_representation` classes.
+
+### Features
+
+It is now possible to convert `CartesianStateVariable` and `JointStateVariable`s from and to `std::string`.
+
+### Full changelog
 
 - feat(state-representation): add utilities for CartesianStateVariable (#195, #201)
 - feat(state-representation): add utilities for JointStateVariable (#197, #201)
diff --git a/VERSION b/VERSION
index f7ee06693..37ad5c8b1 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-9.0.0
+9.0.1
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 40d353fc8..209068044 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 9.0.0 CONFIG REQUIRED)
+find_package(control_libraries 9.0.1 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 50a6d50c9..df6709830 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 = 9.0.0
+PROJECT_NUMBER = 9.0.1
 
 # 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 acddec963..84376a6c8 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 9.0.0)
+project(clproto VERSION 9.0.1)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index 7278a39c8..01e2c8fe6 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__ = "9.0.0"
+__version__ = "9.0.1"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model', 'communication_interfaces']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index d94395f37..1c644ca1d 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 9.0.0)
+project(control_libraries VERSION 9.0.1)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)