Algorithm 3 Algorithm for solving program (18)

Input:, , , ,

Output:, , ,

Initialization: Setup parameters

while (Stop == False) do

Update by solving (20a)

Update by solving (20b),

Update by solving (20c),

Update by solving (20d),

Update,

Update by (20f),

,

if Stopping condition satisfied

then

Stop = True

end if

end while