doc: define predictions matrices of MPC and MHE

Author: franckgaga

src/controller/construct.jl

@@ -453,8 +453,9 @@ terminal states at ``k+H_p``:
                         &= \mathbf{e_x̂ ΔU} + \mathbf{f_x̂}
 \end{aligned}
 ```
-The ``\mathbf{F}`` and ``\mathbf{f_x̂}`` vectors are recalculated at each control period
-``k``, see [`initpred!`](@ref) and [`linconstraint!`](@ref).
+The matrices ``\mathbf{E, G, J, K, V, B, e_x̂, g_x̂, j_x̂, k_x̂, v_x̂, b_x̂}`` are defined in the
+Extended Help section. The ``\mathbf{F}`` and ``\mathbf{f_x̂}`` vectors are  recalculated at
+each control period ``k``, see [`initpred!`](@ref) and [`linconstraint!`](@ref).
 
 # Extended Help
 !!! details "Extended Help"

src/estimator/mhe/construct.jl

@@ -946,6 +946,9 @@ from ``j=N_k-1`` to ``0``, also in deviation form, are computed with:
                   &= \mathbf{E_x̂ Z + F_x̂}
 \end{aligned}
 ```
+The matrices ``\mathbf{E, G, J, B, E_x̂, G_x̂, J_x̂, B_x̂}`` are defined in the Extended Help 
+section. The vectors ``\mathbf{F, F_x̂, f_x̄}`` are recalculated at each discrete time step, 
+see [`initpred!(::MovingHorizonEstimator, ::LinModel)`](@ref) and [`linconstraint!(::MovingHorizonEstimator, ::LinModel)`](@ref).
 
 # Extended Help
 !!! details "Extended Help"