[R] how to express time series linear model Q(t) ~ Q(t-1)+.. Q(t-n) as a formula

[CJ Rubio]

For example I have a time series

Q(t) ~ Q(t-1) + Q(t-2) + Q(t-3)

meaning that my current value is dependent to the 3 previous values.

Can anybody help me express this in a formula that I can use for my neural
network model (I am planning to use packages "nnet" and "MASS")
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