diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc1f551c..30f4badc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,11 +7,16 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 if(WIN32)
-  # Enable Math Constants
-  # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
   add_compile_definitions(
+    # For math constants
+    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
     _USE_MATH_DEFINES
+    # Minimize Windows namespace collision
+    NOMINMAX
+    WIN32_LEAN_AND_MEAN
   )
+  # set the same behavior for windows as it is on linux
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index c64a873a..19ada722 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -40,8 +40,6 @@
 
 #include "realtime_tools/realtime_buffer.hpp"
 
-#include "control_toolbox/visibility_control.hpp"
-
 namespace control_toolbox
 {
 /***************************************************/
@@ -102,7 +100,7 @@ namespace control_toolbox
 */
 /***************************************************/
 
-class CONTROL_TOOLBOX_PUBLIC Pid
+class Pid
 {
 public:
   /*!
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index dbacc9e9..66fb9f74 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -46,12 +46,11 @@
 #include "realtime_tools/realtime_publisher.hpp"
 
 #include "control_toolbox/pid.hpp"
-#include "control_toolbox/visibility_control.hpp"
 
 namespace control_toolbox
 {
 
-class CONTROL_TOOLBOX_PUBLIC PidROS
+class PidROS
 {
 public:
   /*!
diff --git a/include/control_toolbox/visibility_control.hpp b/include/control_toolbox/visibility_control.hpp
deleted file mode 100644
index bef3fee8..00000000
--- a/include/control_toolbox/visibility_control.hpp
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright (c) 2009, Willow Garage, Inc.
-// All rights reserved.
-//
-// Software License Agreement (BSD License 2.0)
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions
-// are met:
-//
-//  * Redistributions of source code must retain the above copyright
-//    notice, this list of conditions and the following disclaimer.
-//  * Redistributions in binary form must reproduce the above
-//    copyright notice, this list of conditions and the following
-//    disclaimer in the documentation and/or other materials provided
-//    with the distribution.
-//  * Neither the name of the Willow Garage nor the names of its
-//    contributors may be used to endorse or promote products derived
-//    from this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#ifndef CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_
-#define CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-#ifdef __GNUC__
-#define CONTROL_TOOLBOX_EXPORT __attribute__((dllexport))
-#define CONTROL_TOOLBOX_IMPORT __attribute__((dllimport))
-#else
-#define CONTROL_TOOLBOX_EXPORT __declspec(dllexport)
-#define CONTROL_TOOLBOX_IMPORT __declspec(dllimport)
-#endif
-#ifdef CONTROL_TOOLBOX_BUILDING_LIBRARY
-#define CONTROL_TOOLBOX_PUBLIC CONTROL_TOOLBOX_EXPORT
-#else
-#define CONTROL_TOOLBOX_PUBLIC CONTROL_TOOLBOX_IMPORT
-#endif
-#define CONTROL_TOOLBOX_PUBLIC_TYPE CONTROL_TOOLBOX_PUBLIC
-#define CONTROL_TOOLBOX_LOCAL
-#else
-#define CONTROL_TOOLBOX_EXPORT __attribute__((visibility("default")))
-#define CONTROL_TOOLBOX_IMPORT
-#if __GNUC__ >= 4
-#define CONTROL_TOOLBOX_PUBLIC __attribute__((visibility("default")))
-#define CONTROL_TOOLBOX_LOCAL __attribute__((visibility("hidden")))
-#else
-#define CONTROL_TOOLBOX_PUBLIC
-#define CONTROL_TOOLBOX_LOCAL
-#endif
-#define CONTROL_TOOLBOX_PUBLIC_TYPE
-#endif
-
-#endif  // CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_