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I want to present a multi-line equation, but the align function includes equation numbers, which does not make sense in my case. How can I remove them?

\documentclass{article}
\usepackage{amsmath}% http://ctan.org/pkg/amsmath
\begin{document}
\begin{align}
u(k) = u(k-1) + K_{R} \cdot (1 + \frac{T_{0}}{2\cdot T_{I}}) \cdot e(k) &- K_{R} \cdot (1+2\cdot \frac{T_{D}}{T_{0}}-\frac{T_{0}}{2\cdot T_{I}}) \cdot e(k-1) \\ & + K_{R}\cdot \frac{T_{D}}{T_{0}} \cdot e(k-2) 
\end{align}
\end{document}

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cheesus
  • 123

1 Answers1

1

As campa statement, please use align* instead of align:

\documentclass{article}
\usepackage{mathtools}% 
\begin{document}
\begin{align*}
u(k) &= u(k-1) + K_{R} \cdot (1 + \frac{T_{0}}{2\cdot T_{I}}) \cdot e(k) - K_{R} \cdot (1+2\cdot \frac{T_{D}}{T_{0}}-\frac{T_{0}}{2\cdot T_{I}}) \cdot e(k-1) \\ 
&\quad + K_{R}\cdot \frac{T_{D}}{T_{0}} \cdot e(k-2) 
\end{align*}
\end{document}

Off-topic: I have changed the alignment as per standard format, made the second line with \quad space indent with respect to the first line

MadyYuvi
  • 13,693
  • You might also try \begin{equation}\begin{aligned} 1 &= 2 \\ &= 3 \end{aligned}\end{equation} for alignment within an equation that is only numbered once. – Eric Scöerg Nov 13 '19 at 10:18