diff --git a/book/htmlbook b/book/htmlbook
index 6f258d07..d1762ce4 160000
--- a/book/htmlbook
+++ b/book/htmlbook
@@ -1 +1 @@
-Subproject commit 6f258d07067ec6f8b5fcb6985d0fc491eee89322
+Subproject commit d1762ce49ab378654c0ed837da6fa6e07bcb5504
diff --git a/book/robust.html b/book/robust.html
index 1f2941ad..60083866 100644
--- a/book/robust.html
+++ b/book/robust.html
@@ -724,12 +724,6 @@ <h1><a href="index.html" style="text-decoration:none;">Underactuated Robotics</a
 PhD thesis, Massachusetts Institute of Technology, September, <span class="year">2014</span>.
 [&nbsp;<a href="http://groups.csail.mit.edu/robotics-center/public_papers/Moore14b.pdf">link</a>&nbsp;]
 
-</li><br>
-<li id=Boyd04a>
-<span class="author">Stephen Boyd and Lieven Vandenberghe</span>, 
-<span class="title">"Convex Optimization"</span>, Cambridge University Press
-, <span class="year">2004</span>.
-
 </li><br>
 <li id=Ebenbauer09>
 <span class="author">Christian Ebenbauer and Tobias Raff and Frank Allgower</span>, 
diff --git a/book/trajopt.html b/book/trajopt.html
index 0172f569..961d2298 100644
--- a/book/trajopt.html
+++ b/book/trajopt.html
@@ -1855,12 +1855,6 @@ <h1>The special case of direct shooting without state constraints</h1>
 <span class="publisher">Humanoid Robots (Humanoids), 2017 IEEE-RAS 17th International Conference on</span> , <span class="year">2017</span>.
 [&nbsp;<a href="http://groups.csail.mit.edu/robotics-center/public_papers/Marcucci17.pdf">link</a>&nbsp;]
 
-</li><br>
-<li id=Junge05>
-<span class="author">O. Junge and J. E. Marsden and S. Ober-Bloebaum</span>, 
-<span class="title">"Discrete mechanics and optimal control"</span>, 
-<span class="publisher">Proceedings of the 16th IFAC World Congress</span> , <span class="year">2005</span>.
-
 </li><br>
 <li id=Nganga21>
 <span class="author">John N Nganga and Patrick M Wensing</span>,