update

PathTracking/model_predictive_speed_and_steer_control/notebook.ipynb

@@ -7,6 +7,13 @@
     "# Model predictive speed and steering control"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# MPC modeling"
+   ]
+  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -17,7 +24,7 @@
     "$$ x = [x, y, v,\\phi]$$ x: x-position, y:y-position, v:velocity, φ: yaw angle\n",
     "\n",
     "Input vector is:\n",
-    "$$ u = [a, \\delta]$$ a: accellation, 出るた: yaw angle\n"
+    "$$ u = [a, \\delta]$$ a: accellation, δ: steering angle\n"
    ]
   },
   {