Sl, (m) q(m)| = d x I a(k + 1) a(k)l
k=1 k= a a) J
x B x (k + ) a(k)l Eq. 8.4
k=l
=B I (k + 1)- a(k) .
k=l
Since only monotonic control parameter sequences are under consideration, the sum
in the last line of Eq. 8.4 can be written as the difference of the initial and final parameter
values of the sequence. Thus,
I q+ ,(m)-q (m)| B(ca(1)- c(oo))
k=l
=B(1 0) Eq. 8.4
=B