\[
\boxed{
 \left\{ {\frac {\rm d}{{\rm d}t}}x \left( t \right) =h \left( t \right) y \left( t \right) -g \left( t \right) z \left( t \right) ,{\frac {\rm d}{{\rm d}t}}y \left( t \right) =f \left( t \right) z \left( t \right) -h \left( t \right) x \left( t \right) ,{\frac {\rm d}{{\rm d}t}}z \left( t \right) =x \left( t \right) g \left( t \right) -y \left( t \right) f \left( t \right)  \right\} }
\]