〉 t=t+△t v(t)=s(t),(t)=r(t) Step 3: Solve W=f() i= of(v)y for u(t),(t) 8v Return to step 2 for next time step to=t v(to)=v(t),i(to)=i(t)Solve for u(t),u(t) u  f (v) v v f v u     ( ) Step 3: Return to step 2 for next time step t  t 0 t  t  t v(t)  s(t), v(t)  r(t) 0 ( ) ( ), ( ) ( ) 0 0 v t  v t v t  v t