I am using the array
environment to create a multiple row bracket expression, as folows:
\documentclass{article}
\begin{document}
\begin{equation}
\left\{ \begin{array}{lll}
C(\tau_{k,i})=0.5Q_e\ddot{q}_t^T\ddot{q}_t + 0.5R_e \theta^T \theta & when & t\neq t_v\\
\\
C(\tau_{k,i})=0.5Q_e\ddot{q}_t^T\ddot{q}_t + 0.5R_e \theta^T \theta + P_{viapoint} & when & t=t_v\\
\\
\quad\quad P_{viapoint}=10^{10}(q_{t}-q_{viapoint})^T(q_{t}-q_{viapoint})
\end{array}\right.
\label{cost2}
\end{equation}
\end{document}
which results in something like this:
However, the vertical spacing between the equations is much greater that the line spacing in the text, and is eating too much space on the paper. Is there a way to reduce the vertical spacing?
cases
environment (part of theamsmath
package) for this task.\renewcommand\arraystretch{1.2}
. Could you post a minimal working example please?\\ \\
so have a blank row between each row of text which is why the spacing is so bad.