diff --git a/.gitignore b/.gitignore
index 0f18cc1..a2f9c19 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 *.pyc
 /notebook/.ipynb_checkpoints
+.ipynb_checkpoints
diff --git a/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb b/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb
index 8583868..e35241b 100644
--- a/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb
+++ b/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb
@@ -827,14 +827,14 @@
     "\\begin{aligned}\n",
     "\\min_{} \\quad &  \\sum^{t+T-1}_{j=t} x^T_{j|t}Qx_{j|t} + u^T_{j|t}Ru_{j|t}\\\\\n",
     "\\textrm{s.t.} \\quad &  x(0) = x0\\\\\n",
-    "  & x_{j+1|t} = Ax_{j|t}+Bu_{j|t}) \\quad  \\textrm{for} t<j<t+T-1    \\\\\n",
+    "  & x_{j+1|t} = Ax_{j|t}+Bu_{j|t}) \\quad  \\textrm{for} \\quad t<j<t+T-1    \\\\\n",
     "\\end{aligned}\n",
     "\\end{equation}\n",
     "$\n",
     "\n",
     "Other linear constrains may be applied,for instance on the control variable:\n",
     "\n",
-    "$ U_{MIN} < u_{j|t} < U_{MAX}    \\quad  \\textrm{for} t<j<t+T-1 $\n",
+    "$ U_{MIN} < u_{j|t} < U_{MAX}    \\quad  \\textrm{for} \\quad t<j<t+T-1 $\n",
     "\n",
     "The objective fuction accounts for quadratic error on deviation from 0 of the state and the control inputs sequences. Q and R are the **weight matrices** and are used to tune the response.\n",
     "\n",
@@ -861,14 +861,14 @@
     "\\begin{aligned}\n",
     "\\min_{} \\quad &  \\sum^{t+T}_{j=t} C(x_{j|t},{j|t})\\\\\n",
     "\\textrm{s.t.} \\quad &  x(0) = x0\\\\\n",
-    "  & x_{j+1|t} = f(x_{j|t},u_{j|t}) \\quad  \\textrm{for} t<j<t+T-1    \\\\\n",
+    "  & x_{j+1|t} = f(x_{j|t},u_{j|t}) \\quad  \\textrm{for} \\quad t<j<t+T-1    \\\\\n",
     "\\end{aligned}\n",
     "\\end{equation}\n",
     "$\n",
     "\n",
     "Other nonlinear constrains may be applied:\n",
     "\n",
-    "$ g(x_{j|t},{j|t})<0$   for $t<j<t+T-1 $"
+    "$ g(x_{j|t},{j|t})<0 \\quad  \\textrm{for} \\quad t<j<t+T-1 $"
    ]
   },
   {
diff --git a/notebook/MPC_cvxpy.ipynb b/notebook/MPC_cvxpy.ipynb
index 8583868..e35241b 100644
--- a/notebook/MPC_cvxpy.ipynb
+++ b/notebook/MPC_cvxpy.ipynb
@@ -827,14 +827,14 @@
     "\\begin{aligned}\n",
     "\\min_{} \\quad &  \\sum^{t+T-1}_{j=t} x^T_{j|t}Qx_{j|t} + u^T_{j|t}Ru_{j|t}\\\\\n",
     "\\textrm{s.t.} \\quad &  x(0) = x0\\\\\n",
-    "  & x_{j+1|t} = Ax_{j|t}+Bu_{j|t}) \\quad  \\textrm{for} t<j<t+T-1    \\\\\n",
+    "  & x_{j+1|t} = Ax_{j|t}+Bu_{j|t}) \\quad  \\textrm{for} \\quad t<j<t+T-1    \\\\\n",
     "\\end{aligned}\n",
     "\\end{equation}\n",
     "$\n",
     "\n",
     "Other linear constrains may be applied,for instance on the control variable:\n",
     "\n",
-    "$ U_{MIN} < u_{j|t} < U_{MAX}    \\quad  \\textrm{for} t<j<t+T-1 $\n",
+    "$ U_{MIN} < u_{j|t} < U_{MAX}    \\quad  \\textrm{for} \\quad t<j<t+T-1 $\n",
     "\n",
     "The objective fuction accounts for quadratic error on deviation from 0 of the state and the control inputs sequences. Q and R are the **weight matrices** and are used to tune the response.\n",
     "\n",
@@ -861,14 +861,14 @@
     "\\begin{aligned}\n",
     "\\min_{} \\quad &  \\sum^{t+T}_{j=t} C(x_{j|t},{j|t})\\\\\n",
     "\\textrm{s.t.} \\quad &  x(0) = x0\\\\\n",
-    "  & x_{j+1|t} = f(x_{j|t},u_{j|t}) \\quad  \\textrm{for} t<j<t+T-1    \\\\\n",
+    "  & x_{j+1|t} = f(x_{j|t},u_{j|t}) \\quad  \\textrm{for} \\quad t<j<t+T-1    \\\\\n",
     "\\end{aligned}\n",
     "\\end{equation}\n",
     "$\n",
     "\n",
     "Other nonlinear constrains may be applied:\n",
     "\n",
-    "$ g(x_{j|t},{j|t})<0$   for $t<j<t+T-1 $"
+    "$ g(x_{j|t},{j|t})<0 \\quad  \\textrm{for} \\quad t<j<t+T-1 $"
    ]
   },
   {