In the technical reports I find myself writing these days there are usually a lot of equations and I have found LaTeX to be the best for this. I usually use the Sitmo online editor. The following post is a reference for some of the LaTeX commands I can never remember (to be appended)

**Matricies**

*example:*

*code:*

\frac{d}{dt}

\left( {\begin{array}{cc}

\omega \\

I \\

\end{array} } \right)

=

\left( {\begin{array}{cc}

-\frac{B}{J} & -\frac{K}{J} \\

-\frac{K}{L} & -\frac{R}{L} \\

\end{array} } \right)

\left( {\begin{array}{cc}

\omega \\

I \\

\end{array} } \right)

+

\left( {\begin{array}{cc}

0 \\

\frac{1}{L} \\

\end{array} } \right)

E

*example:*

*code:*

\

\left[ \begin{array}{ccc} a_{11} & a_{12} & a_{13} \\ a_{21} & a_{22} & a_{23} \\ a_{31} & a_{32} & a_{33} \end{array} \right]

*example:*

*code:*

\left[ \begin{array}{c} y_{1} \\ y_{2} \end{array} \right] =

\left[ \begin{array}{cc} G_{11} & G_{12} \\ G_{21} & G_{22} \end{array} \right]

\left[ \begin{array}{c} u_{1} \\ u_{2} \end{array} \right]

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