Decide on style/punctuation for cases

[Richard Murray]

Cases sometimes use the term “if” as part of the case statement and other times don’t. Need a guideline for how to format.

[Richard Murray]

I looked this up in the Chicago Manual of Style and both forms (w/ or w/out "if") are acceptable. I checked across the book and we use the construct \begin{cases} case 1 & \text{if $condition$}, case 2 & \text{otherwise}. \end{cases} the most, so I have changed them all to that.