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