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Code: Selecteer alles
\begin{equation}
\begin{alignat}{3}
&\underset{u}{\text{minimize}} & J[u] &= (1-A ) C_F ( 1-x_1(z_f) ) + \frac{A}{K}\frac{\beta}{z_f} \int^{z_f}_{0} (u(z) - x_2(z)) \, \text{d}z \\
&\text{subject to} & {\bf x}(0) &= {\bf 0} & & \\
&&\frac{\text{d}{x}_1}{\text{d}z} &= \frac{\alpha}{v} ( 1-x_1 ) e^{ \frac{ \gamma x_2 }{ 1+x_2 } } & & \\
&&\frac{\text{d}{x}_2}{\text{d}z} &= \frac{\alpha \delta}{v} ( 1-x_1 ) e^{ \frac{ \gamma x_2 }{ 1+x_2 }} + \frac{ \beta }{v} ( u-x_2 ) & & \\
&&x_{2,\text{min}} &\le x_2 ( z ) \le x_{2,\text{max}} & & \\
&&u_{\text{min}} &\le u ( z ) \le u_{\text{max}} & &
\end{alignat}
\label{eq:OCPform}
\end{equation}
Code: Selecteer alles
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(amsmath)
trying to recover with 'aligned'.
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1.13 \end{alignat}
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