diff --git a/src/year2/distributed-autonomous-systems/sections/_feedback_optimization.tex b/src/year2/distributed-autonomous-systems/sections/_feedback_optimization.tex
index 606d3c1..d02858c 100644
--- a/src/year2/distributed-autonomous-systems/sections/_feedback_optimization.tex
+++ b/src/year2/distributed-autonomous-systems/sections/_feedback_optimization.tex
@@ -173,7 +173,7 @@
         Use $\x_i$ to approximate $h_i(\u_i)$ and dynamic average consensus for the aggregation function. The dynamics is:
         \[
             \begin{split}
-                \dot{\u}_i &= -\delta_1 \nabla h_i(\u_i) \left( \nabla_{[\x_i]} l_i(\x_i, \phi_i(\x_i)+\w_i) + \left( \nabla_{[\phi_i(\x_i)+\w_i]} l_i(\x_i, \phi_i(\x_i)+\w_i) + \v_i \right) \nabla \phi_i(\x_i) \right) \\
+                \dot{\u}_i &= -\delta_1 \nabla h_i(\u_i) \Big( \nabla_{[\x_i]} l_i(\x_i, \phi_i(\x_i)+\w_i) + \left( \nabla_{[\phi_i(\x_i)+\w_i]} l_i(\x_i, \phi_i(\x_i)+\w_i) + \v_i \right) \nabla \phi_i(\x_i) \Big) \\
                 \delta_2 \dot{\w}_i &= - \sum_{j \in \mathcal{N}_i} a_{ij} (\w_i - \w_j) - \sum_{j \in \mathcal{N}_i} a_{ij} (\phi_i(\x_i) - \phi_i(\x_j)) \\
                 \delta_2 \dot{\v}_i &= - \sum_{j \in \mathcal{N}_i} a_{ij} (\v_i - \v_j) - \sum_{j \in \mathcal{N}_i} a_{ij} (\nabla_{[\phi_i(\x_i)+\w_i]} l_i(\x_i, \phi_i(\x_i)+\w_i) - \nabla_{[\phi_j(\x_j)+\w_j]} l_j(\x_j, \phi_j(\x_j)+\w_j)) \\
             \end{split}
diff --git a/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex b/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex
index 110b8e6..fa954f0 100644
--- a/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex
+++ b/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex
@@ -217,7 +217,7 @@
         where $\u_i^\text{ref}$ is the reference input of the high level controller and $\u_i^\text{max}$ is the bound.
 
         \begin{remark}
-            The policy should be computed continuously for each $x_i(t)$.
+            The policy should be computed continuously for each $\x_i(t)$.
         \end{remark}
 
     \item[Decentralized safety controller] \marginnote{Decentralized safety controller}
@@ -255,13 +255,13 @@
             \begin{split}
                 \dot{\vec{p}}_x &= v \cos(\theta) \\
                 \dot{\vec{p}}_y &= v \sin(\theta) \\
-                \theta &= \omega \\
+                \dot{\theta} &= \omega \\
             \end{split}
         \]
         where:
         \begin{itemize}
             \item $(\vec{p}_x, \vec{p}_y)$ is the position of the center of mass,
-            \item $\theta$ is the orientation,
+            \item $\dot{\theta}$ is the orientation,
             \item $v$ is the linear velocity,
             \item $\omega$ is the angular velocity.
         \end{itemize}