diff --git a/src/estimator/mhe/construct.jl b/src/estimator/mhe/construct.jl
index 2b45e4489..7feee6fe4 100644
--- a/src/estimator/mhe/construct.jl
+++ b/src/estimator/mhe/construct.jl
@@ -1373,10 +1373,10 @@ see [`initpred!(::MovingHorizonEstimator, ::LinModel)`](@ref) and [`linconstrain
         \vdots                                      & \vdots                                        & \ddots & \vdots                                   \\
         \mathbf{Ĉ^m}\mathbf{Â}^{H_e-1}\mathbf{B̂_u}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_u}    & \cdots & \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_u}   \end{bmatrix} \\
     \mathbf{J} &= - \begin{bmatrix}
-        \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂_d^m}                                & \cdots & \mathbf{0}                               \\ 
-        \mathbf{Ĉ^m}\mathbf{Â}^{1}\mathbf{B̂_d}      & \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}        & \cdots & \mathbf{0}                               \\ 
-        \vdots                                      & \vdots                                        & \ddots & \vdots                                   \\
-        \mathbf{Ĉ^m}\mathbf{Â}^{H_e-1}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_d}    & \cdots & \mathbf{D̂_d^m}                           \end{bmatrix} \\
+        \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂_d^m}                              & \mathbf{0}                                    & \cdots & \mathbf{0}     \\ 
+        \mathbf{Ĉ^m}\mathbf{Â}^{1}\mathbf{B̂_d}      & \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂_d^m}                                & \cdots & \mathbf{0}     \\ 
+        \vdots                                      & \vdots                                      & \vdots                                        & \ddots & \vdots         \\
+        \mathbf{Ĉ^m}\mathbf{Â}^{H_e-1}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-3}\mathbf{B̂_d}    & \cdots & \mathbf{D̂_d^m} \end{bmatrix} \\
     \mathbf{B} &= - \begin{bmatrix}
         \mathbf{Ĉ^m S}(0)                    \\
         \mathbf{Ĉ^m S}(1)                    \\
@@ -1398,9 +1398,9 @@ see [`initpred!(::MovingHorizonEstimator, ::LinModel)`](@ref) and [`linconstrain
         \vdots                                      & \vdots                                        & \ddots & \vdots       \\
         \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_u}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-3}\mathbf{B̂_u}    & \cdots & \mathbf{0}   \end{bmatrix} \\
     \mathbf{J} &= - \begin{bmatrix}
-        \mathbf{0}  & \mathbf{D̂_d^m}                              & \mathbf{0}                                    & \cdots & \mathbf{0}   \\ 
-        \mathbf{0}  & \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂_d^m}                                & \cdots & \mathbf{0}   \\ 
-        \vdots      & \vdots                                      & \vdots                                        & \ddots & \vdots       \\
+        \mathbf{0}  & \mathbf{D̂_d^m}                              & \mathbf{0}                                    & \cdots & \mathbf{0}     \\ 
+        \mathbf{0}  & \mathbf{Ĉ^m}\mathbf{Â}^{0}\mathbf{B̂_d}      & \mathbf{D̂_d^m}                                & \cdots & \mathbf{0}     \\ 
+        \vdots      & \vdots                                      & \vdots                                        & \ddots & \vdots         \\
         \mathbf{0}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-2}\mathbf{B̂_d}  & \mathbf{Ĉ^m}\mathbf{Â}^{H_e-3}\mathbf{B̂_d}    & \cdots & \mathbf{D̂_d^m} \end{bmatrix} \\
     \mathbf{B} &= - \begin{bmatrix}
         \mathbf{0}                           \\