minor doc correction

Author: franckgaga

docs/src/manual/nonlinmpc.md

@@ -73,10 +73,10 @@ plot(res, plotu=false)
 savefig(ans, "plot1_NonLinMPC.svg"); nothing # hide
 ```
 
-The [`setname!`](@ref) function allows customizing the Y-axis labels.
-
 ![plot1_NonLinMPC](plot1_NonLinMPC.svg)
 
+The [`setname!`](@ref) function allows customizing the Y-axis labels.
+
 ## Nonlinear Model Predictive Controller
 
 An [`UnscentedKalmanFilter`](@ref) estimates the plant state :

src/controller/execute.jl

@@ -498,7 +498,7 @@ updatestate!(::PredictiveController, _ ) = throw(ArgumentError("missing measured
 """
     setstate!(mpc::PredictiveController, x̂) -> mpc
 
-Set the estimate at `mpc.estim.x̂`.
+Set `mpc.estim.x̂0` to `x̂ - estim.x̂op` from the argument `x̂`.
 """
 setstate!(mpc::PredictiveController, x̂) = (setstate!(mpc.estim, x̂); return mpc)