“…The load parameter correction, c521 k), may be determined by utilizing the constraint equation (3), either directly [22J or in a linearized form [23]. Herein, however, we use an orthogonal trajectory method [24], where the idea is to claim that the iterative correction (Srl k), 821 k)) should be orthogonal to the current tangent (~I k), 1), i.e., a,~?, 3 ( l 3 = 0…”