diff --git a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst
index b18e4728cd7..fcc9b5278a6 100644
--- a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst
+++ b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst
@@ -20,7 +20,7 @@ Vehicle motion Model
 
 The below figure shows the geometric model of the vehicle used in this simulation:
 
-.. image:: lqr_steering_control_model.png
+.. image:: lqr_steering_control_model.jpg
    :width: 600px
 
 The `e` and `theta` represent the lateral error and orientation error, respectively, with respect to the desired trajectory.
diff --git a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.jpg b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.jpg
new file mode 100644
index 00000000000..83754d5bb01
Binary files /dev/null and b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.jpg differ
diff --git a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.png b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.png
deleted file mode 100644
index 961dfcdc05c..00000000000
Binary files a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_model.png and /dev/null differ