https://blog.csdn.net/mingzhuo_126/article/details/82722455
https://blog.csdn.net/honorzoey/article/details/113407979
补充:
多个公式的换行和对其
$$
\begin{align}s,t, \quad
& R_a(k,t)\geq b_a^{req}(t) \quad a\in G_{t,1},G_{t,2},G_{t,3}\\
& \tau_a\leq\tau_1 \quad a\in G_{t,1} \\
& \tau_a\leq\tau_2 \quad a\in G_{t,2} \\
& \tau_a\leq\tau_3 \quad a\in G_{t,3}
\end{align}
$$
效果: