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Semi-Implicit Trapezoidal Rule

The semi-implicit trapezoidal rule method is given by [555]

$\displaystyle \underline{\hat{x}}(n) \isdefs \underline{\hat{x}}(n-1) + \frac{T...
...rline{\hat{x}}(n-1)]}{1-\frac{T}{2}\,\ddot{\underline{\hat{x}}}(n-1)}. \protect$ (8.16)


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