diff --git a/experiment/theory.md b/experiment/theory.md
index 2f00286..9aec4da 100644
--- a/experiment/theory.md
+++ b/experiment/theory.md
@@ -7,7 +7,7 @@ $$ \dot{x}(t)=A x(t)+B u(t) \tag{1a} $$
Output equation:
-$$ y(t)= C x(t) u(t) \tag{1b} $$
+$$ y(t)= C x(t) \tag{1b} $$
Deadbeat Control design:
A deadbeat controller is one where the system's output reaches its desired value in the smallest number of steps (the so-called "deadbeat time" or "deadbeat response").
@@ -19,13 +19,13 @@ $$ {x}[k+1]=F x[k]+g u[k] \tag{2a} $$
Output equation:
-$$ y[k] = C x[k] u[k] \tag{2b} $$
+$$ y[k] = C x[k] \tag{2b} $$
where, x[k] is state vector, y[k] is output vector,
u is input or control vector, F is system matrix,
g is input matrix, C is output matrix.
-where, K is the state feedback gain matrix, r[k] is the reference signal (desired output).
+where, K is the state feedback gain matrix, r[k] is the reference signal.
The control input is typically given by: