diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb
index 64f7aecdd6a5062143bce63c2c5a2bd34c28d261..352ee29db6a19df0348f369eb84f1906fc6e4a2e 100644
--- a/08-Designing-Kalman-Filters.ipynb
+++ b/08-Designing-Kalman-Filters.ipynb
@@ -3248,7 +3248,7 @@
     "The wheel sensor alters the velocity element of $\\mathbf x$, so we assign:\n",
     "\n",
     "$$\\begin{aligned}\n",
-    "\\mathbf H &= \\begin{bmatrix}1 &0\\end{bmatrix} \\\\\n",
+    "\\mathbf H &= \\begin{bmatrix}0 &1\\end{bmatrix} \\\\\n",
     "\\mathbf R &= \\sigma_{wheel}^2\n",
     "\\end{aligned}$$"
    ]