diff --git a/doc/.known-issues/doc/pdf.conf b/doc/.known-issues/doc/pdf.conf
index 6015f088c..0b244e75d 100644
--- a/doc/.known-issues/doc/pdf.conf
+++ b/doc/.known-issues/doc/pdf.conf
@@ -3,7 +3,7 @@
 #
 ^WARNING: Not copying tabs assets! Not compatible with latex builder
 #
-^Latexmk: Summary of warnings:
+^Latexmk: Summary of warnings.*:
 ^  Latex failed to resolve [0-9]+ reference\(s\)
 ^  Latex failed to resolve [0-9]+ citation\(s\)
 #
@@ -20,3 +20,7 @@
 ^  =====Latex reported missing or unavailable character\(s\).
 ^=====See log file for details.
 #
+^Collected error summary \(may duplicate other messages\):
+^  pdflatex: Command for 'pdflatex' gave return code 1
+^      Refer to 'acrn.log' for details
+#
diff --git a/doc/Makefile b/doc/Makefile
index e254c6a6f..2bd6e5140 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -13,7 +13,7 @@ SPHINXBUILD   = sphinx-build
 SPHINXPROJ    = "Project ACRN"
 BUILDDIR      ?= _build
 SOURCEDIR     = $(BUILDDIR)/rst
-LATEXMKOPTS   = -silent
+LATEXMKOPTS   = "-silent -interaction=nonstopmode -f"
 
 # document publication assumes the folder structure is setup
 # with the acrn-hypervisor and projectacrn.github.io repos as
@@ -69,7 +69,7 @@ singlehtml: content doxy
 
 pdf: html
 	@echo now making $(BUILDDIR)/latex/acrn.pdf
-	-$(Q)make -silent latexpdf LATEXMKOPTS=$(LATEXMKOPTS) >> $(BUILDDIR)/doc.log 2>&1
+	$(Q)make -silent latexpdf LATEXMKOPTS=$(LATEXMKOPTS) >> $(BUILDDIR)/doc.log 2>&1
 	$(Q)./scripts/filter-doc-log.sh $(BUILDDIR)/doc.log
 
 
diff --git a/doc/conf.py b/doc/conf.py
index 23a838bb0..2819686fa 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -319,7 +319,7 @@ VerbatimBorderColor={HTML}{00285A}',
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
     (master_doc, 'acrn.tex', u'Project ACRN Documentation',
-     u'Project ACRN', 'manual'),
+     u'Project ACRN', 'manual',True),
 ]
 
 latex_logo = 'images/ACRN_Logo_PrimaryLockup_COLOR-300x300-1.png'
diff --git a/doc/reference/config-options.rst b/doc/reference/config-options.rst
index a49824fda..fa1b76a63 100644
--- a/doc/reference/config-options.rst
+++ b/doc/reference/config-options.rst
@@ -37,19 +37,19 @@ String
 
 .. comment These images are used in generated option documentation
 
-.. |icon-advanced| image:: images/Advanced.svg
+.. |icon-advanced| image:: images/Advanced.png
    :alt: Find this option on the Configurator's Advanced Parameters tab
-.. |icon-basic| image:: images/Basic.svg
+.. |icon-basic| image:: images/Basic.png
    :alt: Find this option on the Configurator's Basic Parameters tab
-.. |icon-not-available| image:: images/Not-available.svg
+.. |icon-not-available| image:: images/Not-available.png
    :alt: This is a hidden option and not user-editable using the Configurator
-.. |icon-post-launched-vm| image:: images/Post-launched-VM.svg
+.. |icon-post-launched-vm| image:: images/Post-launched-VM.png
    :alt: Find this option on a Configurator Post-launched VM tab
-.. |icon-pre-launched-vm| image:: images/Pre-launched-VM.svg
+.. |icon-pre-launched-vm| image:: images/Pre-launched-VM.png
    :alt: Find this option on a Configurator Pre-launched VM tab
-.. |icon-service-vm| image:: images/Service-VM.svg
+.. |icon-service-vm| image:: images/Service-VM.png
    :alt: Find this option on the Configurator Service VM tab
-.. |icon-hypervisor| image:: images/Hypervisor.svg
+.. |icon-hypervisor| image:: images/Hypervisor.png
    :alt: Find this option on the Configurator's Hypervisor Global Settings tab
 
 We use icons within an option description to indicate where the option can be
diff --git a/doc/reference/images/Advanced.png b/doc/reference/images/Advanced.png
new file mode 100644
index 000000000..b1ba00112
Binary files /dev/null and b/doc/reference/images/Advanced.png differ
diff --git a/doc/reference/images/Basic.png b/doc/reference/images/Basic.png
new file mode 100644
index 000000000..4163e22ac
Binary files /dev/null and b/doc/reference/images/Basic.png differ
diff --git a/doc/reference/images/Hypervisor.png b/doc/reference/images/Hypervisor.png
new file mode 100644
index 000000000..9283544fd
Binary files /dev/null and b/doc/reference/images/Hypervisor.png differ
diff --git a/doc/reference/images/Not-available.png b/doc/reference/images/Not-available.png
new file mode 100644
index 000000000..92a1ebb8f
Binary files /dev/null and b/doc/reference/images/Not-available.png differ
diff --git a/doc/reference/images/Post-launched-VM.png b/doc/reference/images/Post-launched-VM.png
new file mode 100644
index 000000000..bd376f5f2
Binary files /dev/null and b/doc/reference/images/Post-launched-VM.png differ
diff --git a/doc/reference/images/Pre-launched-VM.png b/doc/reference/images/Pre-launched-VM.png
new file mode 100644
index 000000000..9d85bea36
Binary files /dev/null and b/doc/reference/images/Pre-launched-VM.png differ
diff --git a/doc/reference/images/Service-VM.png b/doc/reference/images/Service-VM.png
new file mode 100644
index 000000000..f399afc64
Binary files /dev/null and b/doc/reference/images/Service-VM.png differ