diff --git a/doc/chap_examples.rst b/doc/chap_examples.rst
index 847efea8..0a253da6 100644
--- a/doc/chap_examples.rst
+++ b/doc/chap_examples.rst
@@ -790,15 +790,15 @@ Now we can compute the reach set of the linear system
 and taking its projection onto :math:`(z_1, z_2)` subspace.
 
 
-
 .. _hwfig:
 
 .. figure:: /pic/chapter06_section06_pic1.png
    :alt: highway
    :width: 100 %
    
-   Figure shows solvability set projection onto (x_3, x_4) of system
-   ( evolves in time from t=0 to t=5, end position is x1=0, x2=0,x3=0,x4=0.
+   Figure shows solvability set projection onto (:math:`z_3, z_4`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=0, z_2=0,z_3=0,z_4=0`)
    
    
 .. _hwfig:
@@ -807,9 +807,94 @@ and taking its projection onto :math:`(z_1, z_2)` subspace.
    :alt: highway
    :width: 100 %
    
-   Figure shows solvability set projection onto (x_1, x_2) of system
-   ( evolves in time from t=0 to t=5, end position is x1=0, x2=0,x3=0,x4=0.
+   Figure shows solvability set projection onto (:math:`z_1, z_2`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=0, z_2=0,z_3=0,z_4=0`)
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic3.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_1, z_3`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=0, z_2=0,z_3=0,z_4=0`)
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic4.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_2, z_4`) of system
+   ( evolves in time from t=0 to t=5, end position is
+	:math:`z_1=0, z_2=0,z_3=0,z_4=0`)
+   
+.. _hwfig:
 
+.. figure:: /pic/chapter06_section06_pic5.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_3, z_4`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`)
+   
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic6.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_1, z_2`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`)
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic7.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_1, z_3`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`)
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic8.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_2, z_4`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`)
+
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic9.png
+   :alt: highway
+   :width: 100 %
+   
+   Now set control restrictions on :math:`\alpha_1 = 10, \alpha_2 = 10`.
+   Figure shows solvability set projection onto (:math:`z_1, z_2`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`)
+   
+.. _hwfig:
+
+.. figure:: /pic/chapter06_section06_pic10.png
+   :alt: highway
+   :width: 100 %
+   
+   Figure shows solvability set projection onto (:math:`z_3, z_4`) of system
+   ( evolves in time from t=0 to t=5, end position is
+   :math:`z_1=\frac{\pi}{8}, z_2=\frac{\pi}{8}, z_3=0, z_4=0`, control limits:
+   :math:`\alpha_1 = 10, \alpha_2 = 10`)
+
+  
 .. raw:: latex
 
     \newpage	
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