        \begin{align}
            \label{eq:dynsys}
            \begin{cases}
                \frac{d}{dt}\mathbf{x}(t) &= f(\mathbf{x}(t), \mathbf{u}(t), \theta)\\
                \mathbf{y}(t) &= g(\mathbf{x}(t), \mathbf{u}(t), \theta) + \omega(t)
            \end{cases}
        \end{align}
