diff --git a/Slides/Bode/settings.tex b/Slides/Bode/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Bode/settings.tex
+++ b/Slides/Bode/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Control/settings.tex b/Slides/Control/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Control/settings.tex
+++ b/Slides/Control/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/ControllabilityObservability/settings.tex b/Slides/ControllabilityObservability/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/ControllabilityObservability/settings.tex
+++ b/Slides/ControllabilityObservability/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Discrete/settings.tex b/Slides/Discrete/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Discrete/settings.tex
+++ b/Slides/Discrete/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/HJB_LQR/main.tex b/Slides/HJB_LQR/main.tex
index 9ca416c..29826f5 100644
--- a/Slides/HJB_LQR/main.tex
+++ b/Slides/HJB_LQR/main.tex
@@ -147,7 +147,7 @@
 We can find control that delivers minimum to the function \eqref{eq:HJB_0}:
 
 \begin{equation}
-u^* = \underset{\bo{u}}{\argmin} \ 
+u^* = \underset{\bo{u}}{\text{argmin}} \ 
 \left[ 
 g(\bo{x}, \bo{u}) + 
 \frac{\partial J^*}{\partial \bo{x}} \bo{f} (\bo{x}, \bo{u}) \right] 
diff --git a/Slides/HJB_LQR/settings.tex b/Slides/HJB_LQR/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/HJB_LQR/settings.tex
+++ b/Slides/HJB_LQR/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Introduction/settings.tex b/Slides/Introduction/settings.tex
index c7843e7..2f12c66 100644
--- a/Slides/Introduction/settings.tex
+++ b/Slides/Introduction/settings.tex
@@ -33,6 +33,8 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
@@ -50,9 +52,6 @@
 \definecolor{mydarkpink}{RGB}{155, 25, 60}
 \definecolor{mywhitepink}{RGB}{255, 240, 240}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
-
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
 
diff --git a/Slides/Kalman/main.tex b/Slides/Kalman/main.tex
index 1ba40de..d3d4781 100644
--- a/Slides/Kalman/main.tex
+++ b/Slides/Kalman/main.tex
@@ -2,6 +2,12 @@
 
 \input{settings.tex}
 
+\newcommand{\db}[1] {\dot{\mathbf{#1}}}
+\newcommand{\bhat}[1] {\hat{\mathbf{#1}}}
+\newcommand{\dhat}[1] {\dot{\hat{\mathbf{#1}}}}
+\newcommand{\btil}[1] {\Tilde{\mathbf{#1}}}
+\newcommand{\dtil}[1] {\dot{\Tilde{\mathbf{#1}}}}
+
 
 \title{Kalman Filter}
 \subtitle{Control Theory, Lecture 10}
@@ -336,7 +342,7 @@
 			\end{cases}
 		\end{equation}
 		
-		where $\bhat{x}_{i+1}^-$ is an \emph{a priori} estimate. \textcolor{mygray2}{We can re-write the last equation as 
+		where $\bhat{x}_{i+1}^-$ is an \emph{a priori} estimate. \textcolor{mylightgray}{We can re-write the last equation as 
 			$\bhat{x}_{i+1} = \bhat{x}_{i+1}^- + \bo{L}_i (\bo{H} \bo{x}_i - \bo{H} \bhat{x}_{i+1}^- + \bo{v}_i) $.} 
 		
 		\bigskip
diff --git a/Slides/Kalman/settings.tex b/Slides/Kalman/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Kalman/settings.tex
+++ b/Slides/Kalman/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/LMI/settings.tex b/Slides/LMI/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/LMI/settings.tex
+++ b/Slides/LMI/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Laplace/settings.tex b/Slides/Laplace/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Laplace/settings.tex
+++ b/Slides/Laplace/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Linearization/settings.tex b/Slides/Linearization/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Linearization/settings.tex
+++ b/Slides/Linearization/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/LyapunovTheory/settings.tex b/Slides/LyapunovTheory/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/LyapunovTheory/settings.tex
+++ b/Slides/LyapunovTheory/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Observer/settings.tex b/Slides/Observer/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Observer/settings.tex
+++ b/Slides/Observer/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}
diff --git a/Slides/Stability/settings.tex b/Slides/Stability/settings.tex
index 7c43e5d..2f12c66 100644
--- a/Slides/Stability/settings.tex
+++ b/Slides/Stability/settings.tex
@@ -33,17 +33,24 @@
 
 \definecolor{mygreen}{RGB}{0, 200, 0}
 \definecolor{mygreen2}{RGB}{245, 255, 230}
+\definecolor{mydarkgreen}{RGB}{0, 120, 0}
+
 
 \definecolor{mygray}{gray}{0.8}
 \definecolor{mydarkgray}{RGB}{80, 80, 160}
+\definecolor{mylightgray}{RGB}{160, 160, 160}
 
 \definecolor{mydarkred}{RGB}{160, 30, 30}
 \definecolor{mylightred}{RGB}{255, 150, 150}
 \definecolor{myred}{RGB}{200, 110, 110}
 \definecolor{myblackred}{RGB}{120, 40, 40}
 
-\definecolor{mygreen}{RGB}{0, 200, 0}
-\definecolor{mygreen2}{RGB}{205, 255, 200}
+\definecolor{mypink}{RGB}{255, 30, 80}
+\definecolor{myhotpink}{RGB}{255, 80, 200}
+\definecolor{mywarmpink}{RGB}{255, 60, 160}
+\definecolor{mylightpink}{RGB}{255, 80, 200}
+\definecolor{mydarkpink}{RGB}{155, 25, 60}
+\definecolor{mywhitepink}{RGB}{255, 240, 240}
 
 \definecolor{mydarkcolor}{RGB}{60, 25, 155}
 \definecolor{mylightcolor}{RGB}{130, 180, 250}