From ced8b3e57d976e9c136db59a9bcb4d2ca3fd84b1 Mon Sep 17 00:00:00 2001
From: Roger Labbe <rlabbejr@gmail.com>
Date: Tue, 12 May 2015 19:55:21 -0700
Subject: [PATCH] Fixed name of control input function step.

---
 06_Multivariate_Kalman_Filters.ipynb | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/06_Multivariate_Kalman_Filters.ipynb b/06_Multivariate_Kalman_Filters.ipynb
index 493199e..0cbf013 100644
--- a/06_Multivariate_Kalman_Filters.ipynb
+++ b/06_Multivariate_Kalman_Filters.ipynb
@@ -2167,7 +2167,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### **Step 3**: Design the Motion Function\n",
+    "### **Step 3**: Design the Control Function\n",
     "\n",
     "The Kalman filter does not just filter data, it allows us to incorporate control inputs for systems like robots and airplanes. Consider the state transition function we wrote for the dog:\n",
     "\n",
@@ -2179,7 +2179,7 @@
     "\n",
     "$$\\mathbf{x^-} = \\mathbf{Fx} + \\mathbf{Bu}$$\n",
     "\n",
-    "Here $\\mathbf{u}$ is the control input, and $\\mathbf{B}$ is its transfer function. For example, $\\mathbf{u}$ might be a voltage controlling how fast the wheel's motor turns, and multiplying by $\\mathbf{B}$ yields $[\\begin{smallmatrix}x\\\\\\dot{x}\\end{smallmatrix}]$. Since we do not need these terms we will set them both to zero and not concern ourselves with them for now.\n"
+    "Here $\\mathbf{u}$ is the control input, and $\\mathbf{B}$ is the control input model. For example, $\\mathbf{u}$ might be a voltage controlling how fast the wheel's motor turns, and multiplying by $\\mathbf{B}$ yields $[\\begin{smallmatrix}x\\\\\\dot{x}\\end{smallmatrix}]$. Since we do not need these terms we will set them both to zero and not concern ourselves with them for now.\n"
    ]
   },
   {
@@ -2631,7 +2631,7 @@
     "\n",
     "**2**: We set $\\textbf{F}=\\begin{bmatrix}1&1\\\\0&1\\end{bmatrix}$, as in design step 2 above. \n",
     "\n",
-    "**3**: We set $\\textbf{H}=\\begin{bmatrix}1&0\\end{bmatrix}$, as in design step 3 above.\n",
+    "**3**: We set $\\textbf{H}=\\begin{bmatrix}1&0\\end{bmatrix}$, as in design step 4 above.\n",
     "\n",
     "**4**: We set $\\textbf{R} = \\begin{bmatrix}5\\end{bmatrix}$. $\\textbf{R}$ is initialized to the identity matrix, so multiplying by 5 performs this assignment for us.\n",
     "\n",