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

$\begin{array}{ll}\underset{x,w}{\min }& x_2(t_f)\\ \text{s.t.}& {\dot{x}}_0(t)& =& x_0(t)-x_0(t)x_1(t)-c_0{x}_0(t)w(t),\\ & {\dot{x}}_1(t)& =& -x_1(t)+x_0(t)x_1(t)-c_1{x}_1(t)w(t),\\ & {\dot{x}}_2(t)& =& (x_0(t)-1{)}^2+(x_1(t)-1{)}^2,\\ & x(0)& =& x_0,\\ & w(t)& \in & \{0,1\}.\end{array}$