diff --git a/10-Unscented-Kalman-Filter.ipynb b/10-Unscented-Kalman-Filter.ipynb
index b2fe9be..dad808a 100644
--- a/10-Unscented-Kalman-Filter.ipynb
+++ b/10-Unscented-Kalman-Filter.ipynb
@@ -381,8 +381,8 @@
     "\n",
     "through the nonlinear system:\n",
     "\n",
-    "$$\\begin{cases}\\begin{aligned}x&=x+y\\\\\n",
-    "y &= 0.1x^2 + y^2\\end{aligned} \\end{cases}$$ "
+    "$$\\begin{cases}\\begin{aligned}\\bar x&=x+y\\\\\n",
+    "\\bar y&= 0.1x^2 + y^2\\end{aligned} \\end{cases}$$ "
    ]
   },
   {
@@ -2787,17 +2787,17 @@
     "\n",
     "After the move forward for time $\\Delta t$ the new position and orientation of the robot is\n",
     "\n",
-    "$$\\begin{aligned} x &= C_x + R\\sin(\\theta + \\beta) \\\\\n",
-    "y &= C_y - R\\cos(\\theta + \\beta) \\\\\n",
-    "\\theta &= \\theta + \\beta\n",
+    "$$\\begin{aligned} \\bar x &= C_x + R\\sin(\\theta + \\beta) \\\\\n",
+    "\\bar y &= C_y - R\\cos(\\theta + \\beta) \\\\\n",
+    "\\bar \\theta &= \\theta + \\beta\n",
     "\\end{aligned}\n",
     "$$\n",
     "\n",
     "Once we substitute in for $C$ we get\n",
     "\n",
-    "$$\\begin{aligned} x &= x - R\\sin(\\theta) + R\\sin(\\theta + \\beta) \\\\\n",
-    "y &= y + R\\cos(\\theta) - R\\cos(\\theta + \\beta) \\\\\n",
-    "\\theta &= \\theta + \\beta\n",
+    "$$\\begin{aligned} \\bar x &= x - R\\sin(\\theta) + R\\sin(\\theta + \\beta) \\\\\n",
+    "\\bar y &= y + R\\cos(\\theta) - R\\cos(\\theta + \\beta) \\\\\n",
+    "\\bar \\theta &= \\theta + \\beta\n",
     "\\end{aligned}\n",
     "$$\n",
     "\n",