Help:Using LaTeX

Using LaTeX to render mathematical formulas is straightforward. Include your LaTeX code within the math environment, such as

<math>
\begin{array}{llcl}
 \displaystyle \min_{x, w} & x_2(t_f)   \\[1.5ex]
 \mbox{s.t.} & \dot{x}_0(t) & = & x_0(t) - x_0(t) x_1(t) - \; c_0 x_0(t) \; w(t), \\
 & \dot{x}_1(t) & = & - x_1(t) + x_0(t) x_1(t) - \; c_1 x_1(t) \; w(t),  \\
 & \dot{x}_2(t) & = & (x_0(t) - 1)^2 + (x_1(t) - 1)^2,  \\[1.5ex]
 & x(0) &=& x_0, \\
 & w(t) &\in&  \{0, 1\}.
\end{array} 
</math>

to obtain

$\begin{array}{llcl} \displaystyle \min_{x, w} & x_2(t_f) \\[1.5ex] \mbox{s.t.} & \dot{x}_0(t) & = & x_0(t) - x_0(t) x_1(t) - \; c_0 x_0(t) \; w(t), \\ & \dot{x}_1(t) & = & - x_1(t) + x_0(t) x_1(t) - \; c_1 x_1(t) \; w(t), \\ & \dot{x}_2(t) & = & (x_0(t) - 1)^2 + (x_1(t) - 1)^2, \\[1.5ex] & x(0) &=& x_0, \\ & w(t) &\in& \{0, 1\}. \end{array}$