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baggepinnen · Aug 29, 2023 · e55dc6b · e55dc6b
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diff --git a/README.md b/README.md
@@ -13,7 +13,7 @@ Given a continuous-time dynamics function
 ```
 this package contains *integrators* that convert the continuous-time dynamics into a discrete-time dynamics function
 ```math
-x_{t+Ts} = f(x_t, u_t, p, t)
+x_{t+T_s} = f(x_t, u_t, p, t)
 ```
 that advances the state from time $t$ to time $t+T_s$, with a [Zero-order-Hold (ZoH)](https://en.wikipedia.org/wiki/Zero-order_hold) assumption on the input $u$.
 

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -3,15 +3,15 @@
 [![Build Status](https://github.com/baggepinnen/SeeToDee.jl/actions/workflows/CI.yml/badge.svg?branch=main)](https://github.com/baggepinnen/SeeToDee.jl/actions/workflows/CI.yml?query=branch%3Amain)
 
 
-SeeToDee implements low-overhead, nonlinear variants of the classical [`c2d`](https://juliacontrol.github.io/ControlSystems.jl/dev/lib/synthesis/#ControlSystemsBase.c2d-Tuple{AbstractStateSpace{%3C:Continuous},%20AbstractMatrix,%20Real}) function from [ControlSystems.jl](https://github.com/JuliaControl/ControlSystems.jl).
+SeeToDee implements low-overhead, nonlinear variants of the classical [`c2d`](https://juliacontrol.github.io/ControlSystems.jl/dev/lib/synthesis/#ControlSystemsBase.c2d) function from [ControlSystems.jl](https://github.com/JuliaControl/ControlSystems.jl).
 
 Given a continuous-time dynamics function
 ```math
 \dot x = f(x, u, p, t)
 ```
 this package contains *integrators* that convert the continuous-time dynamics into a discrete-time dynamics function
 ```math
-x_{t+Ts} = f(x_t, u_t, p, t)
+x_{t+T_s} = f(x_t, u_t, p, t)
 ```
 that advances the state from time ``t`` to time ``t+T_s``, with a [Zero-order-Hold (ZoH)](https://en.wikipedia.org/wiki/Zero-order_hold) assumption on the input ``u``.