From 4ed365ea0c9ac731098137e2abd2c12c8c54ce5f Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Caillau Date: Tue, 10 Mar 2026 14:34:10 +0100 Subject: [PATCH 1/2] Fix formatting of mathematical constraints in markdown --- ext/Descriptions/balanced_field.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ext/Descriptions/balanced_field.md b/ext/Descriptions/balanced_field.md index ca67aedd..9c891598 100644 --- a/ext/Descriptions/balanced_field.md +++ b/ext/Descriptions/balanced_field.md @@ -9,7 +9,7 @@ The state vector is $x(t) = [r(t), v(t), h(t), \gamma(t)]^ op$ and the control i ```math \begin{aligned} \min_{\alpha, t_f} \quad & r(t_f) \\ - ext{s.t.} \quad & \dot{r}(t) = v(t) \cos \gamma(t), \\ + \text{s.t.} \quad & \dot{r}(t) = v(t) \cos \gamma(t), \\ & \dot{v}(t) = \frac{T \cos \alpha(t) - D}{m} - g \sin \gamma(t), \\ & \dot{h}(t) = v(t) \sin \gamma(t), \\ & \dot{\gamma}(t) = \frac{T \sin \alpha(t) + L}{m v(t)} - \frac{g \cos \gamma(t)}{v(t)}, \\ From 87ef26723f3582cdee29e78091e00cfd301bdb5c Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Caillau Date: Tue, 10 Mar 2026 14:35:17 +0100 Subject: [PATCH 2/2] Fix LaTeX formatting in mountain_car.md --- ext/Descriptions/mountain_car.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ext/Descriptions/mountain_car.md b/ext/Descriptions/mountain_car.md index 99ffef9b..e5b00397 100644 --- a/ext/Descriptions/mountain_car.md +++ b/ext/Descriptions/mountain_car.md @@ -10,7 +10,7 @@ The problem can be stated as ```math \begin{aligned} \min_{x,v,u,t_f} \quad & J = t_f \\ - ext{s.t.} \quad & \dot{x}(t) = v(t), \\ + \text{s.t.} \quad & \dot{x}(t) = v(t), \\ & \dot{v}(t) = a \, u(t) - b \, \cos(c \, x(t)), \\ & x(0) = -0.5, \quad v(0) = 0.0, \\ & x(t_f) = 0.5, \quad v(t_f) \ge 0.0, \\