Step 4: Constraint Stabilization We will have to check if q(t),(t) satisfy Φ=0 D=Φgi-V=0 If <<<1 and ⑩<6，<1 Return to step 2 for next time step t=tt=t+△tStep 4: We will have to check if   0    q q V  0 Constraint Stabilization q(t), q(t) satisfy If 1    1  1    2  Return to step 2 for next time step t  t 0 and t  t t 0