diff --git a/07-Kalman-Filter-Math.ipynb b/07-Kalman-Filter-Math.ipynb
index 5e626e6..693be3a 100644
--- a/07-Kalman-Filter-Math.ipynb
+++ b/07-Kalman-Filter-Math.ipynb
@@ -1363,7 +1363,7 @@
     "\n",
     "We set this to zero and solve to find the equation for $\\mathbf K$ which minimizes the error:\n",
     "\n",
-    "$$-2(\\mathbf H\\mathbf{\\bar P})^\\mathsf T + 2\\mathbf K(\\mathbf H \\mathbf{\\bar P}\\mathbf H^\\mathsf T + \\mathbf R) = 0\\\\\n",
+    "$$-2(\\mathbf H\\mathbf{\\bar P})^\\mathsf T + 2\\mathbf K(\\mathbf H \\mathbf{\\bar P}\\mathbf H^\\mathsf T + \\mathbf R) = 0 \\\\\n",
     "\\mathbf K(\\mathbf H \\mathbf{\\bar P}\\mathbf H^\\mathsf T + \\mathbf R) = (\\mathbf H\\mathbf{\\bar P})^\\mathsf T \\\\\n",
     "\\mathbf K(\\mathbf H \\mathbf{\\bar P}\\mathbf H^\\mathsf T + \\mathbf R) = \\mathbf{\\bar P}\\mathbf H^\\mathsf T \\\\\n",
     "\\mathbf K= \\mathbf{\\bar P}\\mathbf H^\\mathsf T (\\mathbf H \\mathbf{\\bar P}\\mathbf H^\\mathsf T + \\mathbf R)^{-1}\n",