# [](https://)Nonlinear Project
$\dfrac{1}{2}$

$\left(
\begin{array}{ccc}
y_1 & 2 & 3\\
y_2 & 5 & 6\\
7 & 8 & 9\\
\end{array}
\right)$

$\int_{a}^{b}x(t)dt$
$\displaystyle\lim_{N\to\infty}$

$a \times b$
$\cdot$ 內積
$\dot{x}$

$\dot{x}$ = $\begin{pmatrix}
a_{11} & a_{12} & \cdots & a_{1n}\\
a_{21} & a_{22} & \cdots & a_{2n}\\
\vdots & \vdots & \ddots & \vdots\\
a_{m1} & \cdots & \cdots & a_{mn}
\end{pmatrix}$

% ldots: low dots
% cdots: center dots
% ddots: diagonal dots
% vdots: vertical dots

$x\in\mathbb{R}^9$

r_{q/c}\rightarrow[0,\,0,\,d_{des}]^{T}