diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf
index 961f1b0..6b25456 100644
Binary files a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf and b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf differ
diff --git a/electives/others/amr/parts/01_kinematics/03_temporal-models.tex b/electives/others/amr/parts/01_kinematics/03_temporal-models.tex
index 376f69e..8b0dd31 100644
--- a/electives/others/amr/parts/01_kinematics/03_temporal-models.tex
+++ b/electives/others/amr/parts/01_kinematics/03_temporal-models.tex
@@ -1,2 +1,3 @@
 \subsection{Temporal Models}
-
+Often use cont. time n.-lin. system of ODE $\dot{\vec{x}} = \vec{f}_C(\vec{x}(t), \vec{u}(t))$, with measurements $\vec{z}(t) = \vec{h}(\vec{x}(t))$.
+Need linearised (around $\vec{f}_C(\vec{\overline{x}}, \vec{\overline{y}}) = 0$, at \bi{equilibrium})