| (1) | p_{wf}(t) = p_r(t) - \frac{q(t)}{J} |
| (2) | p_r(t) = p_i + \frac{ \int_0^t q_i(\tau) d\tau - \int_0^t q(\tau) d\tau }{c_t \, V_{\phi}} |
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| (1) | p_{wf}(t) = p_r(t) - \frac{q(t)}{J} |
| (2) | p_r(t) = p_i + \frac{ \int_0^t q_i(\tau) d\tau - \int_0^t q(\tau) d\tau }{c_t \, V_{\phi}} |