doc: minor details

Author: franckgaga

src/controller/explicitmpc.jl

@@ -102,7 +102,8 @@ The controller minimizes the following objective function at each discrete time
 See [`LinMPC`](@ref) for the variable definitions. This controller does not support
 constraints but the computational costs are extremely low (array division), therefore 
 suitable for applications that require small sample times. The keyword arguments are
-identical to [`LinMPC`](@ref), except for `Cwt` and `optim` which are not supported. 
+identical to [`LinMPC`](@ref), except for `Cwt` and `optim` which are not supported. This
+controller uses a [`SingleShooting`](@ref) transcription method.
 
 This method uses the default state estimator, a [`SteadyKalmanFilter`](@ref) with default
 arguments. This controller is allocation-free.

src/estimator/mhe/construct.jl

@@ -219,7 +219,8 @@ above, and the MHE is in the current form. Else ``p=1``, leading to the predicti
 
 See [`UnscentedKalmanFilter`](@ref) for details on the augmented process model and 
 ``\mathbf{R̂}, \mathbf{Q̂}`` covariances. This estimator allocates a fair amount of memory 
-at each time step.
+at each time step for the optimization, which is hard-coded as a single shooting
+transcription for now.
 
 !!! warning
     See the Extended Help if you get an error like: