Fix docs #236
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Fix docs #236
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andreab1997
requested review from
felixhekhorn,
giacomomagni and
alecandido
and removed request for
felixhekhorn
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According to #222 I am correcting the docs, in particular minus signs, and reconciling with the source papers. @felixhekhorn if you can please add the part regarding the thresholds for ekos and alphas.