diff --git a/06-Multivariate-Kalman-Filters.ipynb b/06-Multivariate-Kalman-Filters.ipynb
index 566f432..6c888e7 100644
--- a/06-Multivariate-Kalman-Filters.ipynb
+++ b/06-Multivariate-Kalman-Filters.ipynb
@@ -3149,7 +3149,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.4"
+   "version": "3.8.3"
   },
   "widgets": {
    "application/vnd.jupyter.widget-state+json": {
diff --git a/10-Unscented-Kalman-Filter.ipynb b/10-Unscented-Kalman-Filter.ipynb
index 8feb52c..0f41586 100644
--- a/10-Unscented-Kalman-Filter.ipynb
+++ b/10-Unscented-Kalman-Filter.ipynb
@@ -785,10 +785,10 @@
     "\n",
     "$$ \n",
     "\\boldsymbol{\\chi}_i = \\begin{cases}\n",
-    "\\mu + \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right ]_{i}& \\text{for i=1 .. n} \\\\\n",
-    "\\mu - \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} &\\text{for i=(n+1) .. 2n}\\end{cases}\n",
+    "\\mu + \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right ]_{i}& i=1..n \\\\\n",
+    "\\mu - \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} &i=(n+1)..2n\\end{cases}\n",
     "$$\n",
-    "The $i$ subscript chooses the i$^{th}$ roth vector of the matrix.\n",
+    "The $i$ subscript chooses the i$^{th}$ row vector of the matrix.\n",
     "\n",
     "In other words, we scale the covariance matrix by a constant, take the square root of it, and ensure symmetry by both adding and subtracting it from the mean. We will discuss how you take the square root of a matrix later.\n",
     "\n",
@@ -1285,7 +1285,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### Tracking Maneuevering Aircraft"
+    "### Tracking Maneuvering Aircraft"
    ]
   },
   {
@@ -2059,8 +2059,8 @@
     "$$\n",
     "\\begin{cases}\n",
     "\\mathcal{X}_0 = \\mu \\\\\n",
-    "\\mathcal{X}_i = \\mu +  \\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i, & \\texttt{for i=1..n} \\\\\n",
-    "\\mathcal{X}_i = \\mu - \\left[\\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} & \\texttt{for i=(n+1)..2n}\n",
+    "\\mathcal{X}_i = \\mu +  \\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i, & i=1..n \\\\\n",
+    "\\mathcal{X}_i = \\mu - \\left[\\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} & i=(n+1)..2n\n",
     "\\end{cases}\n",
     "$$\n",
     "\n",
@@ -3250,7 +3250,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.4"
+   "version": "3.8.3"
   }
  },
  "nbformat": 4,