diff --git a/src/controller/construct.jl b/src/controller/construct.jl
index 97520bb2c..588d93f9c 100644
--- a/src/controller/construct.jl
+++ b/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}
diff --git a/src/controller/nonlinmpc.jl b/src/controller/nonlinmpc.jl
index 00e0343e2..41f481a81 100644
--- a/src/controller/nonlinmpc.jl
+++ b/src/controller/nonlinmpc.jl
@@ -880,7 +880,7 @@ for the two respective constraints. Note that `g_oracle` only includes the non-`
 inequality constraints, thus it must be re-constructed if they change. This method is really
 intricate because the oracles are used inside the nonlinear optimization, so they must be
 type-stable and as efficient as possible. All the function outputs and derivatives are 
-ached and updated in-place if required to use the efficient [`value_and_jacobian!`](@extref DifferentiationInterface DifferentiationInterface.value_and_jacobian!).
+cached and updated in-place if required to use the efficient [`value_and_jacobian!`](@extref DifferentiationInterface DifferentiationInterface.value_and_jacobian!).
 """
 function get_nonlincon_oracle(mpc::NonLinMPC, ::JuMP.GenericModel{JNT}) where JNT<:Real
     # ----------- common cache for all functions  ----------------------------------------
diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl
index 8590083bd..5e3754bca 100644
--- a/src/controller/transcription.jl
+++ b/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