diff --git a/content/zettels/feedforward_control.md b/content/zettels/feedforward_control.md
index 8def568..40859f6 100644
--- a/content/zettels/feedforward_control.md
+++ b/content/zettels/feedforward_control.md
@@ -9,15 +9,14 @@ Tags
 
 Depending on the physical system to be controlled, several feedforward controllers can be used:
 
--   [Rigid Body Feedforward](#sec:rigid-body-feedforward)
--   <sec:rigid_body_feedforward>
--   <sec:fourth_order_feedforward>
--   <sec:model_based_feedforward>
+-   [sec:rigid_body_feedforward](#sec:rigid_body_feedforward)
+-   [sec:fourth_order_feedforward](#sec:fourth_order_feedforward)
+-   [sec:model_based_feedforward](#sec:model_based_feedforward)
 
 
 ## Rigid Body Feedforward {#sec:rigid-body-feedforward}
 
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 Second order trajectory planning: the acceleration and velocity can be bound to wanted values.
 
@@ -37,7 +36,7 @@ F\_{ff} = m a + c v
 
 ## Fourth Order Feedforward {#fourth-order-feedforward}
 
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+<span id="sec-fourth-order-feedforward"></span>
 
 The main advantage of "fourth order feedforward" is that it takes into account the flexibility in the system (one resonance between the actuation point and the measurement point, see Figure [2](#figure--fig:feedforward-double-mass-system)).
 This can lead to better results than second order trajectory planning as demonstrated [here](https://www.20sim.com/control-engineering/snap-feedforward/).
@@ -111,7 +110,7 @@ In order to implement a fourth order trajectory, look at [this](https://www.math
 
 ## Model Based Feedforward Control for Second Order resonance plant {#model-based-feedforward-control-for-second-order-resonance-plant}
 
-<span class="org-target" id="org-target--sec-model-based-feedforward"></span>
+<span id="sec-model-based-feedforward"></span>
 
 See <&schmidt20_desig_high_perfor_mechat_third_revis_edition> (Section 4.2.1).