\documentclass[dvipdfm]{article}
\usepackage{amsmath,amssymb,mathrsfs}
\usepackage{graphicx,color,url}
\usepackage{keyval}
\usepackage[dvipdfm]{hyperref}
\hypersetup{%
   pdftitle={Template for LaTeX Documents},
   pdfauthor={Beard},
   pdfkeywords={latex, template},
   bookmarksnumbered,
   pdfstartview={FitH},
   colorlinks=true,
   breaklinks=true,
   citecolor=blue,
   filecolor=blue,
}%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                Macros
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\OMIT}[1]{}
\newcommand{\re}{\mathbb{R}}
\newcommand{\ce}{\mathbb{C}}
\newcommand{\norm}[1]{\left\|{#1}\right\|}
\newcommand{\pde}[2]{\frac{\partial #1}{\partial #2}}
\newcommand{\fundef}[3]{#1:#2\to #3}
\newcommand{\abs}[1]{\left|{#1}\right|}
\newcommand{\defeq}{\stackrel{\triangle}{=}}
\newtheorem{theorem}{Theorem}[section]
\newtheorem{algorithm}[theorem]{Algorithm}
\newtheorem{axiom}[theorem]{Axiom}
\newtheorem{corollary}[theorem]{Corollary}
\newtheorem{definition}[theorem]{Definition}
\newtheorem{example}[theorem]{Example}
\newtheorem{lemma}[theorem]{Lemma}
\newtheorem{proposition}[theorem]{Proposition}
\definecolor{byutan}{rgb}{0.77,0.69,0.49}
\definecolor{byublue}{rgb}{0.0,0.1176,0.2980}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                End Macros
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


\begin{document}
\date{} %don't want date printed
\title{
    Template for LaTeX documents
}

\author{
    Randy Beard \footnote{Corresponding author: beard@ee.byu.edu}
}

\maketitle

\begin{abstract}

The abstract goes here.

\end{abstract}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Introduction} \label{sec:introduction}

This is an example of an unnumbered equation:
\[
V_x^T(f+gu) + m + u^T Ru = 0.
\]

This is an example of a numbered equation that can be referenced:
\begin{equation}\label{eq:cool_formula}
\dot{x} = Ax + Bu.
\end{equation}

It is now easy to refer to Equation~\ref{eq:cool_formula}.

This is an example of an aligned formula:
\begin{align*}
\dot{x} &= f(x,u) \\
y &= h(x,u).
\end{align*}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Conclusions} \label{sec:conclusions}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\section*{Acknowledgements}
This work was funded by .

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%  \bibliographystyle{plain}
%  \bibliography{../../bib/refs}
%%%%%%%%%%%%%%%% end Bibliography %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


\end{document}
