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I have the following equation:

J_\pi(x_0)=\left(\underbrace{g_N(x_N)}_{\mathclap{\substack{\text{Terminal}
           \\\text{cost}}}}+\underbrace{\sum_{k=0}^{N-1}g_k(x_k,u_k,w_k)}_
           {\mathclap{\substack{\text{Accumulated}\\\text{cost}}}}\right)

Which outputs:

enter image description here

I want to get rid of the "extra height" on the parentheses (circled above in red) that's created due to the underbrace. How do I do this? Thank you!

Solution: I used biggl and biggr as per the suggestions, it works:

enter image description here

Thank you!

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  • 3
    This is one of the typical situations where the automatic stretching of \left and \right overreacts. IMHO just set the delimiter size manually, like \biggl( and \biggr).
    – campa
    Oct 23, 2015 at 12:06
  • Unrelated: the \mathclaps are superfluous here.
    – campa
    Oct 23, 2015 at 12:10
  • Using the \bigg approach, if you want your underbraces to vertically align, try: \documentclass{article} \usepackage{mathtools,stackengine} \begin{document} \[ J_\pi(x_0)=\biggl(\underbrace{\addstackgap[10.6pt]{$g_N(x_N)$}}_{\mathclap{\substack{\text{Terminal} \\\text{cost}}}}+\underbrace{\sum_{k=0}^{N-1}g_k(x_k,u_k,w_k)}_ {\mathclap{\substack{\text{Accumulated}\\\text{cost}}}}\biggr) \] \end{document} Oct 23, 2015 at 12:22

1 Answer 1

6

Even without underbraces you shouldn't use here \left ... right, as they give too high parentheses. There is family \bigl, \Bigl, \biggl, \Biggl and closing \bigr and so on. You can choose suitable height, using them, e.g.

\[
J_\pi(x_0)=\Biggl(\underbrace{g_N(x_N)}_{\mathclap{\substack{\text{Terminal}
           \\\text{cost}}}}+\underbrace{\sum_{k=0}^{N-1}g_k(x_k,u_k,w_k)}_
           {\mathclap{\substack{\text{Accumulated}\\\text{cost}}}}\Biggr)
\]

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