minor doc correction

Author: franckgaga

src/estimator/mhe/construct.jl

@@ -831,20 +831,20 @@ All these equations omit the operating points ``\mathbf{u_{op}, y_{op}, d_{op}}`
     ```math
     \begin{aligned}
     \mathbf{E} &= - \begin{bmatrix}
-        \mathbf{Ĉ^m}\mathbf{A}^{0}                  & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
-        \mathbf{Ĉ^m}\mathbf{Â}^{1}                  & \mathbf{Ĉ^m}\mathbf{A}^{0}                    & \cdots & \mathbf{0}   \\ 
+        \mathbf{Ĉ^m}\mathbf{Â}^{0}                  & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
+        \mathbf{Ĉ^m}\mathbf{Â}^{1}                  & \mathbf{Ĉ^m}\mathbf{Â}^{0}                    & \cdots & \mathbf{0}   \\ 
         \vdots                                      & \vdots                                        & \ddots & \vdots       \\
         \mathbf{Ĉ^m}\mathbf{Â}^{H_e-1}              & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}                & \cdots & \mathbf{0}   \end{bmatrix} \\
     \mathbf{G} &= - \begin{bmatrix}
         \mathbf{0}                                  & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
-        \mathbf{Ĉ^m}\mathbf{A}^{0}\mathbf{B̂_u}      & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
+        \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_u}      & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
         \vdots                                      & \vdots                                        & \ddots & \vdots       \\
-        \mathbf{Ĉ^m}\mathbf{A}^{H_e-2}\mathbf{B̂_u}  & \mathbf{Ĉ^m}\mathbf{A}^{H_e-3}\mathbf{B̂_u}    & \cdots & \mathbf{0}   \end{bmatrix} \\
+        \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_u}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-3}\mathbf{B̂_u}    & \cdots & \mathbf{0}   \end{bmatrix} \\
     \mathbf{J} &= - \begin{bmatrix}
         \mathbf{D̂^m}                                & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
-        \mathbf{Ĉ^m}\mathbf{A}^{0}\mathbf{B̂_d}      & \mathbf{D̂^m}                                  & \cdots & \mathbf{0}   \\ 
+        \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂^m}                                  & \cdots & \mathbf{0}   \\ 
         \vdots                                      & \vdots                                        & \ddots & \vdots       \\
-        \mathbf{Ĉ^m}\mathbf{A}^{H_e-2}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{A}^{H_e-3}\mathbf{B̂_d}    & \cdots & \mathbf{D̂^m} \end{bmatrix} 
+        \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-3}\mathbf{B̂_d}    & \cdots & \mathbf{D̂^m} \end{bmatrix} 
     \end{aligned}
     ```
     for the estimation error at arrival: