Very good that you posted a small compilable example! I intended to check and to answer every question which comes with such a minimal example for testing. So, here we go.
The standard braces are pretty big. You could load
MnSymbol, which changes those braces so that they can be smaller. Perhaps insert
\strut
,
\vphantom
, or any invisible vertical rule to get equal vertical alignment of the braces.
Code: Select all
\documentclass{article}
\usepackage{MnSymbol}
\begin{document}
\[
\begin{array}{l} {P(t)=F_{x} u(t)} \\
{=(\underbrace{\strut W\sin (\theta (t))}_{(1)} +
\underbrace{\strut fW\cos (\theta (t))}_{(2)} +
\underbrace{\strut m{\rm \; }a(t)}_{(3)} +
\underbrace{\strut C_{I} }_{(4)} )u(t) +
\underbrace{\strut b}_{\tiny(5)} +\varepsilon (t)}
\end{array}
\]
\end{document}
Before:

- braces-1.png (4.54 KiB) Viewed 10041 times
After:

- braces-2.png (4.21 KiB) Viewed 10041 times
Stefan