Da equação (1) e (2) e (4), temos que:

𝐿𝑎 𝑑𝑖𝑎
𝑘𝜔𝑝 (𝑡) = −𝑅𝑎 𝑖𝑎 (𝑡) − + 𝑉𝑡 (𝑡)
𝑑𝑡
𝑗𝑑𝜔𝑝 (𝑡)
𝐾𝑖𝑎 (𝑡) = + 𝐷𝜔𝑝 (𝑡) + 𝑇𝐿 (𝑡)
𝑑𝑡

𝑇𝐿 (𝑡) = 𝜇𝜔𝑝2 (𝑡) [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑡))]

Então

𝑅𝑎 𝑗𝑑𝜔𝑝 (𝑡)
𝐾𝜔𝑝 (𝑡) = − [ + 𝐷𝜔𝑝 (𝑡) + 𝜇𝜔𝑝2 (𝑡) [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑡))]]
𝐾 𝑑𝑡

𝐿𝑎 𝑗𝑑²𝜔𝑝 (𝑡) 𝐷𝑑𝜔𝑝 (𝑡) 2𝜇𝜔𝑝 (𝑡)𝑑𝜔𝑝 (𝑡)

− [ + + [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑡))]] + 𝑉𝑡 (𝑡)
𝐾 𝑑𝑡 2 𝑑𝑡 𝑑𝑡

Pelo método das diferenças finitas, temos que:

𝑅𝑎 𝑗[𝜔𝑝 (𝑘 + 1) − 𝜔𝑝 (𝑘)]
𝐾𝜔𝑝 (𝑘) = − { + 𝐷𝜔𝑝 (𝑘) + 𝜇𝜔𝑝2 (𝑘) [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))]}
𝐾 𝑇
𝐿𝑎 𝑗[𝜔𝑝 (𝑘 + 1) − 2𝜔𝑝 (𝑘) + 𝜔𝑝 (𝑘 − 1)] 𝐷[𝜔𝑝 (𝑘 + 1) − 𝜔𝑝 (𝑘)]
− { +
𝐾 𝑇2 𝑇

2𝜇𝜔𝑝 (𝑘) [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] [𝜔𝑝 (𝑘 + 1) − 𝜔𝑝 (𝑘)]

+ } + 𝑉𝑡 (𝑘)
𝑇

𝑅𝑎 𝑗 𝑅𝑎 𝑗 𝑅𝑎 𝐷 𝑅𝑎
𝐾𝜔𝑝 (𝑘) = − 𝜔𝑝 (𝑘 + 1) + 𝜔𝑝 (𝑘) − 𝜔𝑝 (𝑘) − 𝜇𝜔𝑝2 (𝑘) [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))]
𝐾𝑇 𝐾𝑇 𝐾 𝐾
𝐿𝑎 𝑗 2𝐿𝑎 𝑗 𝐿𝑎 𝑗 𝐿𝑎 𝐷
− 𝜔𝑝 (𝑘 + 1) + 𝜔𝑝 (𝑘) − 𝜔𝑝 (𝑘 − 1) − 𝜔 (𝑘 + 1)
𝐾𝑇 2 𝐾𝑇 2 𝐾𝑇 2 𝐾𝑇 𝑝
𝐿𝑎 2𝐿𝑎 𝜇
+ 𝜔𝑝 (𝑘) − [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] 𝜔𝑝 (𝑘)𝜔𝑝 (𝑘 + 1)
𝐾𝑇 𝐾𝑇
2𝐿𝑎 𝜇
+ [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] 𝜔𝑝2 (𝑘) + 𝑉𝑡 (𝑘)
𝐾𝑇
2𝐿𝑎 𝑗 𝐿𝑎 𝐷 𝐿𝑎 𝑗 𝑅𝑎 𝑗 𝑅𝑎 𝐷 2𝐿𝑎 𝑗 𝐿𝑎
𝐾𝜔𝑝 (𝑘) = ( 2 − − ) 𝜔𝑝 (𝑘 + 1) + ( − + + ) 𝜔 (𝑘)
𝐾𝑇 𝐾𝑇 𝐾𝑇 2 𝐾𝑇 𝐾 𝐾𝑇 2 𝐾𝑇 𝑝
2𝐿𝑎 𝜇 2𝐿𝑎 𝜇
+ [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] 𝜔𝑝2 (𝑘) − [𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] 𝜔𝑝 (𝑘)𝜔𝑝 (𝑘 + 1)
𝐾𝑇 𝐾𝑇
+ 𝑉𝑡 (𝑘)

2𝐿𝑎 𝜇
O termo − 𝐾𝑇
[𝑠𝑖𝑔𝑛 (𝜔𝑝 (𝑘))] 𝜔𝑝 (𝑘)𝜔𝑝 (𝑘 + 1) não bate com a equação do artigo.