diff --git a/docs/source/overview/core-concepts/actuators.rst b/docs/source/overview/core-concepts/actuators.rst
index 15bde0cdb8..b3085b31c2 100644
--- a/docs/source/overview/core-concepts/actuators.rst
+++ b/docs/source/overview/core-concepts/actuators.rst
@@ -34,7 +34,7 @@ maximum effort:
 
 .. math::
 
-    \tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff} \\
+    \tau_{j, computed} & = k_p * (q_{des} - q) + k_d * (\dot{q}_{des} - \dot{q}) + \tau_{ff} \\
     \tau_{j, applied} & = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})