Merge pull request #43 from JuliaControl/doc_ekf_correction

doc: correct errors in EKF equations

Author: franckgaga

src/estimator/kalman.jl

@@ -744,8 +744,7 @@ substitutions ``\mathbf{Â = F̂}(k)`` and ``\mathbf{Ĉ^m = Ĥ^m}(k)``:
                            [\mathbf{Ĥ^m}(k)\mathbf{P̂}_{k-1}(k)\mathbf{Ĥ^m}'(k) + \mathbf{R̂}]^{-1}    \\
     \mathbf{K̂}(k)       &= \mathbf{F̂}(k) \mathbf{M̂}(k)                                    \\
     \mathbf{ŷ^m}(k)     &= \mathbf{ĥ^m}\Big( \mathbf{x̂}_{k-1}(k), \mathbf{d}(k) \Big)     \\
-    \mathbf{x̂}_{k}(k+1) &= \math, covestim::CE,
-    )    bf{f̂}\Big( \mathbf{x̂}_{k-1}(k), \mathbf{u}(k), \mathbf{d}(k) \Big)
+    \mathbf{x̂}_{k}(k+1) &= \mathbf{f̂}\Big( \mathbf{x̂}_{k-1}(k), \mathbf{u}(k), \mathbf{d}(k) \Big)
                            + \mathbf{K̂}(k)[\mathbf{y^m}(k) - \mathbf{ŷ^m}(k)]             \\
     \mathbf{P̂}_{k}(k+1) &= \mathbf{F̂}(k)[\mathbf{P̂}_{k-1}(k)
                            - \mathbf{M̂}(k)\mathbf{Ĥ^m}(k)\mathbf{P̂}_{k-1}(k)]\mathbf{F̂}'(k) 
@@ -756,8 +755,7 @@ substitutions ``\mathbf{Â = F̂}(k)`` and ``\mathbf{Ĉ^m = Ĥ^m}(k)``:
 automatically computes the Jacobians:
 ```math
 \begin{aligned}
-    \mathbf{F̂}(k) &= \left. \fra, covestim::CE,
-    )    c{∂\mathbf{f̂}(\mathbf{x̂}, \mathbf{u}, \mathbf{d})}{∂\mathbf{x̂}} \right|_{\mathbf{x̂ = x̂}_{k-1}(k),\, \mathbf{u = u}(k),\, \mathbf{d = d}(k)}  \\
+    \mathbf{F̂}(k) &= \left. \frac{∂\mathbf{f̂}(\mathbf{x̂}, \mathbf{u}, \mathbf{d})}{∂\mathbf{x̂}} \right|_{\mathbf{x̂ = x̂}_{k-1}(k),\, \mathbf{u = u}(k),\, \mathbf{d = d}(k)}  \\
     \mathbf{Ĥ}(k) &= \left. \frac{∂\mathbf{ĥ}(\mathbf{x̂}, \mathbf{d})}{∂\mathbf{x̂}}             \right|_{\mathbf{x̂ = x̂}_{k-1}(k),\, \mathbf{d = d}(k)}
 \end{aligned}
 ```