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a guest Jun 26th, 2019 62 Never
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  1. begin{equation}
  2.   begin{aligned}
  3.     min_{vec{y}, vec{v}} & f(vec{y}) + g(vec{v})  \
  4.     textrm{s.t. } &
  5.     begin{aligned}
  6.       dot{vec{y}} & = f(vec{y}, vec{v}) \
  7.       vec{y}(0) & = vec{y}_0 \
  8.     end{aligned}
  9.   end{aligned}
  10. end{equation}
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