diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb
index a9680b13..98ca229c 100644
--- a/SLAM/EKFSLAM/ekf_slam.ipynb
+++ b/SLAM/EKFSLAM/ekf_slam.ipynb
@@ -62,7 +62,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "$\n",
+    "$$\n",
     "\\begin{array}{cc}\n",
     "X = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\\\ x_1 \\\\ y_1 \\\\ x_2 \\\\ y_2 \\\\ \\dots \\\\ x_n \\\\ y_n\\end{bmatrix}\n",
     "&\n",
@@ -73,7 +73,7 @@
     "\\sigma_{x_nx} & \\sigma_{x_ny} & \\sigma_{x_n\\theta} & \\sigma_{x_nx_1} & \\sigma_{x_ny_1} & \\sigma_{x_nx_2} & \\sigma_{x_ny_2} & \\dots & \\sigma_{x_nx_n} & \\sigma_{x_ny_n}\n",
     "\\end{bmatrix}\n",
     "\\end{array}\n",
-    "$"
+    "$$"
    ]
   },
   {
@@ -92,7 +92,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "$\n",
+    "$$\n",
     "\\begin{array}{cc}\n",
     "X = \\begin{bmatrix} x \\\\ m \\end{bmatrix}\n",
     "&\n",
@@ -101,7 +101,7 @@
     "\\Sigma_{mx} & \\Sigma_{mm}\\\\\n",
     "\\end{bmatrix}\n",
     "\\end{array}\n",
-    "$"
+    "$$"
    ]
   },
   {