minor doc correction

Author: franckgaga

docs/src/public/state_estim.md

@@ -14,7 +14,8 @@ error with closed-loop control (offset-free tracking).
 !!! info
     If you plan to use the estimators for other contexts than this specific package (e.g. :
     filter, parameter estimation, etc.), careful must be taken at construction since the
-    integral action is not necessarily desired. The option `nint_ym=0` disable it.
+    integral action is not necessarily desired. The options `nint_u=0` and `nint_ym=0`
+    disable it.
 
 The estimators are all implemented in the predictor form (a.k.a. observer form), that is,
 they all estimates at each discrete time ``k`` the states of the next period

src/estimator/kalman.jl

@@ -243,10 +243,9 @@ value with ``\mathbf{P̂}_{-1}(0) =
 - `σP0=fill(1/model.nx,model.nx)` : main diagonal of the initial estimate covariance
     ``\mathbf{P}(0)``, specified as a standard deviation vector.
 - `σP0int_u=fill(1,sum(nint_u))` : same than `σP0` but for the unmeasured disturbances at 
-    manipulated inputs ``\mathbf{P_{int_u}}`` (composed of integrators).
-    covariance ``\mathbf{P_{int}}(0)`` (composed of output integrators).
+    manipulated inputs ``\mathbf{P_{int_u}}(0)`` (composed of integrators).
 - `σP0int_ym=fill(1,sum(nint_ym))` : same than `σP0` but for the unmeasured disturbances at 
-    measured outputs ``\mathbf{P_{int_{ym}}}`` (composed of integrators).
+    measured outputs ``\mathbf{P_{int_{ym}}}(0)`` (composed of integrators).
 - `<keyword arguments>` of [`SteadyKalmanFilter`](@ref) constructor.
 
 # Examples