LaTeX Forum

\documentclass[11pt,a4paper]{article}
\usepackage[T1]{fontenc}
\usepackage{selinput}
\SelectInputMappings{
  adieresis={ä},
  germandbls={ß},
  Euro={€}
}
\usepackage{mathtools}

\begin{document}
  \begin{equation}
    \underbrace{
      \begin{bmatrix}
        \dot{\beta} \\[\jot] \ddot{\psi}
      \end{bmatrix}
      }_{\underline{\dot{x}}}
    =
    \underbrace{
      \begin{bmatrix}
        -\frac{c_v+c_h}{m\cdot v} & \frac{c_h\cdot l_h-c_v\cdot l_v}{m\cdot v^2}-1 \\[\jot]
        \frac{c_h\cdot l_h-c_v\cdot l_v}{\Theta_z} & -\frac{c_v\cdot l_v^2+c_l\cdot l_v^2}{\Theta_z}
      \end{bmatrix}
      }_{\underline{A}}
    \cdot
    \underbrace{
      \begin{bmatrix}
        \beta \\[\jot] \dot{\psi}
      \end{bmatrix}
      }_{\underline{x}}
    +
    \underbrace{
      \begin{bmatrix}
        \frac{c_v}{m\cdot v} \\[\jot]
        \frac{c_v\cdot l_v}{\Theta_z}
      \end{bmatrix}
      }_{\underline{B}}
      \cdot
      \underbrace{
        \begin{matrix}
          \smash{\raisebox{-3.5\jot}{$\delta_v$}} \\[2\jot] \strut
        \end{matrix}
      }_{\underline{u}}
  \end{equation}
\end{document}

\begin{tabular}{c}
\underbrace{} \\ bla bla
\end{tabular}

\begin{equation}
	\begin{tabular}{c} \underbrace{\begin{bmatrix}  \dot{\beta}\\ \ddot{\psi} \end{bmatrix}} \\ \underline {\dot{x}}  \end{tabular} = \begin{tabular}{c} \underbrace{\begin{bmatrix} - \frac{c_v + c_h}{m \cdot v} & \frac{c_h \cdot l_h - c_v \cdot l_v}{m \cdot v^2} -1 \\ \frac{c_h \cdot l_h - c_v \cdot l_v}{\Theta_z} & - \frac{c_v \cdot (l_v)^2 + c_h \cdot (l_h)^2}{\Theta_z \cdot v}  \end{bmatrix}}\\ A \end{tabular} \cdot \begin{tabular}{c} \underbrace{\begin{bmatrix} \beta\\ \dot{\psi} \end{bmatrix}} \\ x \end{tabular} +\begin{tabular}{c} \underbrace{\begin{bmatrix} \frac{c_v}{m \cdot v}  \\ \frac{c_v \cdot l_v}{\Theta_z} \end{bmatrix}} \\ b \end{tabular} \cdot \begin{tabular}{c} \underbrace{\delta_v} \\ u \end{tabular}
		\label{eq:Zstdsr}
\end{equation}