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By the way, I figured out an extension to your solution that made it work even better for me:

\subsection [Optimization Using \texorpdfstring{$(\Delta x_b, \Delta y_b)$}{(Delta xb, Delta yb)}] {Full Gait Optimization Using $(\Delta x_b, \Delta y_b)$}

By using \texorpdfstring the text that shows ...

Thank you frabjous, I see the problem now. After trying it with the optional name parameter the warnings went away.

I'll be more careful about posting full working examples in the future.

Hi,

I am trying to include math expressions in some of my section titles, with a bunch of warnings as a result. Here's what I did:

\subsection{Optimization Using $\Delta x_b, \Delta y_b$}

I get the following warnings (no errors):

./GaitOptimizationChapter.tex:501: Token not allowed in a ...