2.Direct Integration Step 1: Fort=0v(0),(0) are given Solve (u(0),v(0))=0 D(0)i(0)=V(0)-Φ(0)y(0) u(0),(0) Step 2: Calculate M,Q,:Y Solve equations gg >i=f(g,9,t)元Solve equations                     T A M q Q q q  0 q f(q,q,t) t0  0 v(0), v(0) (u(0),v(0))  0 (0)u(0) V(0) (0)v(0) u  v  u(0), u(0) , , , Μ Q q A 