Why not something like this? position = C * state + D * input Reasoning: k is the only subscript, so it can be dropped. Meaning of C and D are implicitly

Why not something like this? position = C * state + D * input Reasoning: k is the only subscript, so it can be dropped. Meaning of C and D are implicitly defined through their function wrt to state and input, so its OK not to name them. It also keeps the structure visible similar to that of the math.