From 228a1912b9a82fea73390ea13dfce76fe43247a4 Mon Sep 17 00:00:00 2001
From: franckgaga <franckgaga2@gmail.com>
Date: Thu, 7 Sep 2023 15:35:13 -0400
Subject: [PATCH] minor doc correction

---
 src/estimator/kalman.jl | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/src/estimator/kalman.jl b/src/estimator/kalman.jl
index 09e19c85..27594d6a 100644
--- a/src/estimator/kalman.jl
+++ b/src/estimator/kalman.jl
@@ -382,12 +382,12 @@ is based on the process model :
     \mathbf{y^u}(k) &= \mathbf{ĥ^u}\Big(\mathbf{x}(k), \mathbf{d}(k)\Big)                 \\
 \end{aligned}
 ```
-See [`SteadyKalmanFilter`](@ref) for details on ``\mathbf{v}(k), \mathbf{w}(k)`` noises and 
-``\mathbf{R̂}, \mathbf{Q̂}`` covariances. The functions ``\mathbf{f̂, ĥ}`` are `model` 
-state-space functions augmented with the stochastic model, which is specified by the numbers
-of output integrator `nint_ym` (see Extended Help). The 
-``\mathbf{ĥ^m}`` function represents the measured outputs of ``\mathbf{ĥ}`` function (and 
-unmeasured ones, for ``\mathbf{ĥ^u}``).
+See [`SteadyKalmanFilter`](@ref) for details on ``\mathbf{v}(k), \mathbf{w}(k)`` noises and
+``\mathbf{R̂}, \mathbf{Q̂}`` covariances. The functions ``\mathbf{f̂, ĥ}`` are `model` state-
+space functions augmented with the stochastic model, which is specified by the numbers of
+integrator `nint_u` and `nint_ym` (see Extended Help). The ``\mathbf{ĥ^m}`` function 
+represents the measured outputs of ``\mathbf{ĥ}`` function (and unmeasured ones, for 
+``\mathbf{ĥ^u}``).
 
 # Arguments
 - `model::SimModel` : (deterministic) model for the estimations.
@@ -413,9 +413,8 @@ UnscentedKalmanFilter estimator with a sample time Ts = 10.0 s, NonLinModel and:
 # Extended Help
 The Extended Help of [`SteadyKalmanFilter`](@ref) details the augmentation with `nint_ym` 
 and `nint_u` arguments. Note that the constructor does not validate the observability of
-the resulting augmented [`NonLinModel`]. In such cases, it is the user's responsibility to
-ensure that the augmented model is still observable.
-```
+the resulting augmented [`NonLinModel`](@ref). In such cases, it is the user's 
+responsibility to ensure that the augmented model is still observable.
 """
 function UnscentedKalmanFilter(
     model::M;