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JuliaControl · Jun 14, 2023 · 9921adb · 9921adb
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diff --git a/docs/src/manual/linmpc.md b/docs/src/manual/linmpc.md
@@ -1,4 +1,4 @@
-# [Manual: Linear Design](@id my_manual)
+# [Manual: Linear Design](@id man_lin)
 
 ## Linear Model
 

diff --git a/docs/src/manual/nonlinmpc.md b/docs/src/manual/nonlinmpc.md
@@ -1,4 +1,4 @@
-# Manual: Nonlinear Design
+# [Manual: Nonlinear Design](@id man_nonlin)
 
 ## Nonlinear Model
 

diff --git a/docs/src/public/state_estim.md b/docs/src/public/state_estim.md
@@ -26,7 +26,7 @@ the controller computations, without introducing any additional delays. Moreover
 [`moveinput!`](@ref) method of the predictive controllers does not automatically update the
 estimates with [`updatestate!`](@ref). This allows applying the calculated inputs on the
 real plant before starting the potentially expensive estimator computations (see
-[Manual](@ref my_manual) for examples).
+[Manual](@ref man_lin) for examples).
 
 !!! info
     All the estimators support measured ``\mathbf{y^m}`` and unmeasured ``\mathbf{y^u}``

diff --git a/src/model/linmodel.jl b/src/model/linmodel.jl
@@ -44,7 +44,7 @@ with the state ``\mathbf{x}`` and output ``\mathbf{y}`` vectors. The ``\mathbf{z
 comprises the manipulated inputs ``\mathbf{u}`` and measured disturbances ``\mathbf{d}``, 
 in any order. `i_u` provides the indices of ``\mathbf{z}`` that are manipulated, and `i_d`, 
 the measured disturbances. See Extended Help if `sys` is continuous-time, or discrete-time
-and `Ts ≠ sys.Ts`.
+with `Ts ≠ sys.Ts`.
 
 See also [`ss`](https://juliacontrol.github.io/ControlSystems.jl/stable/lib/constructors/#ControlSystemsBase.ss),
 [`tf`](https://juliacontrol.github.io/ControlSystems.jl/stable/lib/constructors/#ControlSystemsBase.tf).

diff --git a/src/model/nonlinmodel.jl b/src/model/nonlinmodel.jl
@@ -40,7 +40,7 @@ manipulated inputs, states, outputs and measured disturbances.
     Replace the `d` argument with `_` if `nd = 0` (see Examples below).
 
 Nonlinear continuous-time state-space functions are not supported for now. In such a case, 
-manually call a differential equation solver in the `f` function (e.g.: Euler method).
+manually call a differential equation solver in `f` (see [Manual](@ref man_nonlin)).
 
 !!! warning
     `f` and `h` must be pure Julia functions to use the model in [`NonLinMPC`](@ref).