deletions | additions       diff --git a/Numerical_Approach.md b/Numerical_Approach.md  index d39e6c2..9e41104 100644  --- a/Numerical_Approach.md  +++ b/Numerical_Approach.md 
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W_k & -A^T_k \\\  A_k & 0 \end{array} \right]\left[\begin{array}{ccc}  p_k \\\  p_\lambda \end{array} \right]\left[\begin{array}{ccc} \right] =   \left[\begin{array}{ccc}  -\nabla F_k + A^T_k \lambda_k \\\  -c_k \end{array} \right]\]  \(p\) is the Newton step direction for the next iteration. \(W_k\) is the Hessian matrix of \(L\) with respect to all degrees of freedom except \(\lambda_k\). \(A_k\) is the Jacobian matrix of the constraints, \([\nabla c_1, \nabla c_2, ..., \nabla c_m]^T\).