doc: minor corrections

Author: franckgaga

src/controller/construct.jl

@@ -1198,7 +1198,7 @@ end
 
 Augment defect equality constraints with slack variable ϵ if `nϵ == 1`.
 
-It returns the ``\mathbf{Ẽŝ}`` matrix that appears in the defect equation 
+It returns the ``\mathbf{Ẽ_ŝ}`` matrix that appears in the defect equation 
 ``\mathbf{Ŝ = Ẽ_ŝ Z̃ + F_ŝ}`` and the ``\mathbf{A}`` matrix for the equality constraints:
 ```math
 \mathbf{A_ŝ Z̃} = - \mathbf{F_ŝ}

src/controller/transcription.jl

@@ -989,7 +989,7 @@ end
 @doc raw"""
     set_warmstart!(mpc::PredictiveController, ::OrthogonalCollocation, Z̃var) -> Z̃s
 
-Set and return the warm-start value of `Z̃var` for other [`OrthogonalCollocation`](@ref).
+Set and return the warm-start value of `Z̃var` for [`OrthogonalCollocation`](@ref).
 
 It warm-starts the solver at:
 ```math