idem

src/predictive_control.jl

@@ -780,10 +780,11 @@ The linear model predictions are evaluated by :
                &= \mathbf{E ΔU} + \mathbf{F}
 \end{aligned}
 ```
-where predicted outputs ``\mathbf{Ŷ}`` and measured disturbances ``\mathbf{D̂}`` are from ``k
-+ 1`` to ``k + H_p``. Input increments ``\mathbf{ΔU}`` are from ``k`` to ``k + H_c - 1``.
-The vector ``\mathbf{x̂}_{k-1}(k)`` is the state estimated at the last control period. The
-method also computes similar matrices but for the predicted terminal states at ``k+H_p``:
+where predicted outputs ``\mathbf{Ŷ}`` and measured disturbances ``\mathbf{D̂}`` are from 
+``k + 1`` to ``k + H_p``. Input increments ``\mathbf{ΔU}`` are from ``k`` to
+``k + H_c - 1``. The vector ``\mathbf{x̂}_{k-1}(k)`` is the state estimated at the last 
+control period. The method also computes similar matrices but for the predicted terminal 
+states at ``k+H_p``:
 ```math
 \begin{aligned}
     \mathbf{x̂}_{k-1}(k+H_p)