diff --git a/content/book/du19_multi_actuat_system_contr.md b/content/book/du19_multi_actuat_system_contr.md
index bff94cf..de4dff6 100644
--- a/content/book/du19_multi_actuat_system_contr.md
+++ b/content/book/du19_multi_actuat_system_contr.md
@@ -94,7 +94,7 @@ There characteristics are shown on table [1](#table--tab:microactuator).
@@ -206,7 +206,7 @@ is satisfied, where \\(T\_{zw}\\) is the transfer function from \\(w\\) to \\(z\
{{< figure src="/ox-hugo/du19_h_inf_diagram.png" caption="Figure 6: Block diagram for \\(\mathcal{H}\_\infty\\) loop shaping method to design the controller \\(C(s)\\) with the weighting function \\(W(s)\\)" >}}
-Equation [1](#org563f2ec) means that \\(S(s)\\) can be shaped similarly to the inverse of the chosen weighting function \\(W(s)\\).
+Equation [1](#org60aa04e) means that \\(S(s)\\) can be shaped similarly to the inverse of the chosen weighting function \\(W(s)\\).
One form of \\(W(s)\\) is taken as
\begin{equation}
@@ -339,7 +339,7 @@ A decoupled control structure can be used for the three-stage actuation system (
The overall sensitivity function is
\\[ S(z) = \approx S\_v(z) S\_p(z) S\_m(z) \\]
-with \\(S\_v(z)\\) and \\(S\_p(z)\\) are defined in equation [1](#org9bf2b8d) and
+with \\(S\_v(z)\\) and \\(S\_p(z)\\) are defined in equation [1](#org3237465) and
\\[ S\_m(z) = \frac{1}{1 + P\_m(z) C\_m(z)} \\]
Denote the dual-stage open-loop transfer function as \\(G\_d\\)
diff --git a/content/book/preumont18_vibrat_contr_activ_struc_fourt_edition.md b/content/book/preumont18_vibrat_contr_activ_struc_fourt_edition.md
index c722911..38f35ca 100644
--- a/content/book/preumont18_vibrat_contr_activ_struc_fourt_edition.md
+++ b/content/book/preumont18_vibrat_contr_activ_struc_fourt_edition.md
@@ -105,7 +105,7 @@ The table [1](#table--tab:adv-dis-type-control) summarizes the main features of
-
Table 1:
+
Table 1:
Advantages and Disadvantages of some types of control
@@ -353,7 +353,7 @@ Typical values of the modal damping ratio are summarized on table
@@ -422,7 +422,7 @@ A **collocated control system** is a control system where:
diff --git a/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md b/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md
index a9aa0b8..3bdf96e 100644
--- a/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md
+++ b/content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md
@@ -619,7 +619,7 @@ The core of the control system is the _plant_, which is the physical system that
Table 3:
- Symbols used in Figure
3
+ Symbols used in Figure
3
| Symbol | Meaning | Unit |
diff --git a/content/book/taghirad13_paral.md b/content/book/taghirad13_paral.md
index 9b69ccd..04e28a8 100644
--- a/content/book/taghirad13_paral.md
+++ b/content/book/taghirad13_paral.md
@@ -24,7 +24,7 @@ PDF version
## Introduction {#introduction}
-
+
This book is intended to give some analysis and design tools for the increase number of engineers and researchers who are interested in the design and implementation of parallel robots.
A systematic approach is presented to analyze the kinematics, dynamics and control of parallel robots.
@@ -49,7 +49,7 @@ The control of parallel robots is elaborated in the last two chapters, in which
## Motion Representation {#motion-representation}
-
+
### Spatial Motion Representation {#spatial-motion-representation}
@@ -429,7 +429,7 @@ Hence, the **inverse of the transformation matrix** can be obtain by
## Kinematics {#kinematics}
-
+
### Introduction {#introduction}
@@ -583,7 +583,7 @@ The complexity of the problem depends widely on the manipulator architecture and
## Jacobian: Velocities and Static Forces {#jacobian-velocities-and-static-forces}
-
+
### Introduction {#introduction}
@@ -1125,7 +1125,7 @@ The largest axis of the stiffness transformation hyper-ellipsoid is given by thi
## Dynamics {#dynamics}
-
+
### Introduction {#introduction}
@@ -1783,7 +1783,7 @@ Therefore, actuator forces \\(\bm{\tau}\\) are computed in the simulation from
## Motion Control {#motion-control}
-
+
### Introduction {#introduction}
@@ -1804,7 +1804,7 @@ However, using advanced techniques in nonlinear and MIMO control permits to over
### Controller Topology {#controller-topology}
-
+
@@ -1899,7 +1899,7 @@ For a fully parallel manipulator such as the Stewart-Gough platform, this mappin
### Motion Control in Task Space {#motion-control-in-task-space}
-
+
#### Decentralized PD Control {#decentralized-pd-control}
@@ -2547,7 +2547,7 @@ Hence, it is recommended to design and implement controllers in the task space,
## Force Control {#force-control}
-
+
### Introduction {#introduction}