Step 1: For t=0v(0),(0) are given Solve u(0)=f(v(0) a(0)=af(0)0) 〉 (0),(0) Step 2: Solve M节=Q i =M-Q Step 3: Let S=V,P=少 5=r,r=M0 Integrate for one time step s(to)=v(to),r(to)=v(to)( ) ( ), ( ) ( ) ˆ ˆ , 0 0 0 0 1 s t v t r t v t s r r M Q         M ˆ v Q ˆ   v Mˆ 1Qˆ   s v,r v 0 t0  v(0), v(0) u(0)  f (v (0)) (0) (0) ( ) (0) v v f v u     u(0), u(0)