F x u

where xn is the state vector, and un is the input vector:

Here, Runge-Kutta method of numerical integration is usually used to solve the equations. Firstly, we calculate the following equations k1 = *n + f( xn , Un )

k4 = f(x + Atk4, u n+1) where the interpolated input vector is

Then, we combine the above equations xn+i = xn +—(k1 + 2 k2 + 2 k3 + k4) (30)

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