diff --git a/paper/sections/05-control.tex b/paper/sections/05-control.tex
index d4a91cbb41289c6ffe449a2e6ef7f3b06795c4ba..49a56e40c67aabf7041b0e95cce754de9e673a51 100644
--- a/paper/sections/05-control.tex
+++ b/paper/sections/05-control.tex
@@ -32,12 +32,13 @@ Another important consequence of the sampling policy is the
 observability of the event \texttt{lost\_visibility}. The occurrence
 event is in fact detectable only when the antenna is turned on and the
 sensor is listening to the visible satellites. When a satellite
-disappears, if the antenna is turned off the device wont observe this
-and at the next sampling it will have to acquire new ephemeris data
-before being available of providing new positioning (assuming that
-enough satellites are visible).
+disappears, the device is not aware of the even if the antenna is
+turned off. At the next sampling, the receiver needs then to acquire
+new ephemeris data before being capable to provide positioning
+information.
 
 \subsection{Sampling Strategy}
+
 Given these considerations we designed a simple sampling stategy that tries to keep the ephemeris data updated and samples the GPS sensor according to the uncertainty of the state estimation of the Kalman filter. To do this we use the trace of the covariance matrix $P$ which represents the estimation variance of the position. When this quantity overcomes a defined threshold the position is requested to the sensor. This is formally encoded in the state machine represented in figure~\ref{fig:controller}. 
 
 \textbf{The controller}: The logical controller sends a \texttt{turn\_on} signal at the start up in order to collect the ephemeris data (state 2). Then once those are available it starts cycling between states 3 and 4 through alternatively triggering the \texttt{turn\_off}, \texttt{turn\_on} signals. For readability, in the same way as we did in the sensor model, the states in which the antenna is turned on are filled with green.