GLOSSARY

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LaTeX Math Block
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p_n(t)  = p_{i,n} +  \sum_{k = 1}^N  \int_0^t  p^u_{nk}(t - \tau) \, \dot q_k \, d\tau
\approx  = p_{0,n} + \sum_{k = 1}^N  \sum_{\alpha = 1}^{N_k} \big( q^{(\alpha)}_k - q^{(\alpha-1)}_k \big) \ p^u_{nk}(t - t_{\alpha k})

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