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I got the error !Package array Error: Illegal prem-token (o): `c' used. Don't know how to solve this problem. My table has only one row.

\begin{equation}        
                \xi = \left\{\begin{array}
                       {cols}X\\Y\\\varphi\\v_x\\v_y\\\omega\end{array}\right\},
                  u = \left\{\begin{array}{cols}$D$\\\delta\end{array}\right\}
\end{equation}
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  • There seems to be a mismatch between the title and first paragraph of your write-up, with refer to a "table" that consists of a single row, and the code, which employs 2 array environments which contain one column vector each. Please clarify and/or edit your posting as needed.
    – Mico
    Oct 7 '17 at 16:16
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The two instances of the statement

\begin{array}{cols}

are not syntactically valid: LaTeX knows about the c and l column types, but nothing about column types called o and s.

Since the bodies of the two array environments appear to be column vectors, you should be writing

\begin{array}{c}

in both instances.

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