Formula

<math>\int (x+y) \, dc</math>

<math>e^{i \pi} + 1 = 0</math>

<math>\hat{x}_{k|k-1} = A\hat{x}_{k-1|k-1} + Bu_{k-1}</math>

<math>P_{k|k-1} = AP_{k-1|k-1}A^{T} + Q</math>

<math>K_{k} = P_{k|k-1}H^{T}\left(HP_{k|k-1}H^{T}+R\right)^{-1}</math>

<math>\hat{x}_{k|k} = \hat{x}_{k|k-1} + K_{k}\left(y_{k} - H\hat{x}_{k|k-1}\right)</math>

<math>P_{k|k} = \left(I-K_{k}H\right)P_{k|k-1}</math>

<math> \begin{bmatrix}

  1 & 2 & 3 \\
  4 & 5 & 6 \\
  7 & 8 & 9
 \end{bmatrix}

</math>

<math> e^{i \pi}+1=0 </math>

<math> a+b </math>