diff --git a/docs/src/assets/MPC_example1.png b/docs/src/assets/MPC_example1.png
index 7324258..e4388de 100644
Binary files a/docs/src/assets/MPC_example1.png and b/docs/src/assets/MPC_example1.png differ
diff --git a/docs/src/assets/MPC_example1_u.png b/docs/src/assets/MPC_example1_u.png
deleted file mode 100644
index 06d4d73..0000000
Binary files a/docs/src/assets/MPC_example1_u.png and /dev/null differ
diff --git a/docs/src/assets/room_diagram.png b/docs/src/assets/room_diagram.png
index e88b1c9..00a3ea8 100644
Binary files a/docs/src/assets/room_diagram.png and b/docs/src/assets/room_diagram.png differ
diff --git a/docs/src/tutorials/HVAC.md b/docs/src/tutorials/HVAC.md
index 6bc0eab..64277b7 100644
--- a/docs/src/tutorials/HVAC.md
+++ b/docs/src/tutorials/HVAC.md
@@ -217,9 +217,7 @@ ylabel!("Air Flowrate")
 
 The resulting figures can be seen below:
 
-![ULayer_Results_T](../assets/MPC_example1.png)
-
-![ULayer_Results_u](../assets/MPC_example1_u.png)
+![ULayer_Results](../assets/MPC_example1.png)
 
 ## Hierarchical Implementation
 
@@ -381,7 +379,7 @@ plt_graph = layout_plot(
 )
 ```
 
-The resulting structure can be seen below. 
+The resulting structure can be seen below, where the yellow nodes represent the upper level graph and the other three colors are each a subgraph for the individual rooms. 
 
 ![HMPC_Structure](../assets/MPC_Example2_Graph.png)