diff --git a/07-Kalman-Filter-Math.ipynb b/07-Kalman-Filter-Math.ipynb
index 8dbbb2c..1e57e6e 100644
--- a/07-Kalman-Filter-Math.ipynb
+++ b/07-Kalman-Filter-Math.ipynb
@@ -642,7 +642,7 @@
     "$$\\begin{aligned}\n",
     "x_1 &= x \\\\\n",
     "x_2 &= \\dot x_1 \\\\\n",
-    "\\dot x_2 &= \\dot x_1 = \\ddot x\n",
+    "\\dot x_2 &= \\ddot x_1 = \\ddot x\n",
     "\\end{aligned}$$\n",
     "\n",
     "As is common I dropped the $(t)$ for notational convenience. This gives the equation\n",
diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb
index 32180e5..d7dc190 100644
--- a/08-Designing-Kalman-Filters.ipynb
+++ b/08-Designing-Kalman-Filters.ipynb
@@ -1774,7 +1774,7 @@
     "\n",
     "plot_kf_output(xs, fxs3, zs, aspect_equal=False)\n",
     "plot_residuals(xs[:, 0], fxs3[:, 0], ps3[:, 0], \n",
-    "               'Second Order Position Residuals',\n",
+    "               'First Order Position Residuals',\n",
     "               'meters') "
    ]
   },