diff --git a/src/sim_model.jl b/src/sim_model.jl
index 26b638b69..8c92c6fa1 100644
--- a/src/sim_model.jl
+++ b/src/sim_model.jl
@@ -220,15 +220,6 @@ function preparestate!(model::SimModel)
     return x 
 end
 
-function preparestate!(model::SimModel, ::Any , ::Any=model.buffer.empty)
-    Base.depwarn(
-        "The method preparestate!(model::SimModel, u, d=[]) is deprecated. Use "*
-        " preparestate!(model::SimModel) instead.",
-        :preparestate!,
-    )
-    return preparestate!(model)
-end
-
 @doc raw"""
     updatestate!(model::SimModel, u, d=[]) -> xnext
 
diff --git a/test/1_test_sim_model.jl b/test/1_test_sim_model.jl
index 1639460f1..ce97303ec 100644
--- a/test/1_test_sim_model.jl
+++ b/test/1_test_sim_model.jl
@@ -113,8 +113,7 @@ end
     @test evaloutput(linmodel1, Float64[]) ≈ linmodel1(Float64[]) ≈ [50,30]
     x = initstate!(linmodel1, [10, 60])
     @test evaloutput(linmodel1) ≈ [50 + 19.0, 30 + 7.4]
-    @test preparestate!(linmodel1) ≈ x           # new method
-    @test preparestate!(linmodel1, [10, 60]) ≈ x # deprecated method
+    @test preparestate!(linmodel1) ≈ x           
     @test updatestate!(linmodel1,  [10, 60]) ≈ x
     linmodel2 = LinModel(append(tf(1, [1, 0]), tf(2, [10, 1])), 1.0)
     x = initstate!(linmodel2, [10, 3])