Left Align \text{} in \aligned{} environment latex

I have generated the following code:

\begin{equation}
\begin{aligned}
c(s) &= [x_c(s),y_c(s)]^T \in \mathbb{R}^2, & \text{Centerline}, \\
i(s) &= [x_{in},y_{in}]^T \in \mathbb{R}^2, & \text{Inner Border}, \\
o(s) &= [x_{out},y_{out}]^T \in \mathbb{R}^2, & \text{Outer Border}, \\
\Delta(s) &= o(s)-i(s) \in \mathbb{R}^2, & \text{Lateral Deviation}, \\
t(s) &= i(s) + \alpha(s)\Delta(s), \quad \alpha \in [0,1] & \text{Trajectory}.
\end{aligned} \label{FrameworkTrajectory}
\end{equation}

which leads to: The problem is that I want to also align the words in all the \text{}'s based on their first letter (left alignment) instead of right, but I fail miserably when trying to do so.

All help is greatly appreciated!

• as always on this site you are more likely to get any help if you provide a full minimal example that others can copy and test as is. That said use &&\text instead. Apr 23 '21 at 10:56
• Explanation: when you have several alignments the number of & per line is 2n-1 where n is the number of alignments, so it is n alignment &'s and n-1 & to separate the alignments. Apr 23 '21 at 10:57
• Thank you very much daleif! Apr 23 '21 at 11:57

Just double the ampersand before \text. The environment align & Co. always alternate right-aligned/left-aligned columns, so after two & like in your code you are in a right-aligned column; you need a further & to go into the left-aligned one.

\documentclass{article}

\usepackage{amsmath,amssymb}

\begin{document}

\begin{equation}
\begin{aligned}
c(s)      &= [x_c(s),y_c(s)]^T \in \mathbb{R}^2,                     &&\text{Centerline},        \\
i(s)      &= [x_{\mathrm{in}},y_{\mathrm{in}}]^T \in \mathbb{R}^2,   &&\text{Inner Border},      \\
o(s)      &= [x_{\mathrm{out}},y_{\mathrm{out}}]^T \in \mathbb{R}^2, &&\text{Outer Border},      \\
\Delta(s) &= o(s)-i(s) \in \mathbb{R}^2,                             &&\text{Lateral Deviation}, \\ 