TeX source:

\begin{aligned}=& \frac{D_{c}}{p_{m} T_{s}+D_{R}}\left[\left(c_{m}-c_{s}\right) p_{m} T_{s}-h_{s}\left(\frac{p_{s} t_{s}^{2}}{p_{m}}-p_{s} t_{s}^{2}\right)-\mathrm{id}_{s}\left(T_{R}+p_{s} t_{s} \frac{1}{D_{c}}-\frac{1}{p_{m}}\right)-A_{s}\right.\\&+\left(c_{r}-c_{m}\right) p_{m} T_{s}-h_{m}\left(n p_{m} T_{s} T_{R}-\frac{n^{2}+n-2 r-2}{2} T_{R} D_{R}-\frac{p_{s}^{2} t_{s}^{2}}{2 p_{m}}\right) \\&-\operatorname{id}_{m}\left(\frac{p_{m} T_{m}-n D_{R}}{D_{c}}\right) \\&-A_{m}+\left(c_{r 1}-c_{r}\right) p_{m} T_{s}-\frac{h_{r}}{2}\left(\frac{p_{m}^{2} T_{s}^{2}}{D_{c}}-2 n p_{m} T_{s} T_{R}-(2 n+1) T_{R} D_{R}\right) \\&\left.+\frac{n c_{r_{1}} I_{e} D_{c} M^{2}}{2}+\frac{c_{r_{1}} I_{e}}{2}\left(p_{m} T_{s}-n D_{R}\right)(2 M-T)-\mathrm{id}_{r} T_{R}-A_{r}\right] \\=& \frac{D_{c}}{p_{m} T_{s}+D_{R}}\left[A p_{s}^{2} t_{s}^{2}-B p_{s} t_{s}+F\right]\end{aligned}