larger of the absolute value of p new or f old and equates it to a variable m p new is the present value of parameter p and f old is the value of filtered parameter f from the previous iteration of performance of the program of fig6 performance of step 54 squares the value of variable m and equates the result to variable s execution of step 56 multiplies the value of variable s by dt k o wherein dt the time interval between calculations and k o u03c4 o p o 2 and equates the product to variable e performance of step 58 determines if the value of e is greater than 1 and if it is greater than 1 the value of e is set equal to 1 this is done to prevent numerical instability execution of step 60 takes the value of f old i e value of f new after previous iteration of program and adds to it the product of the value of e times the difference in the values of p new and f old and stores the sum of f new performance of step 62 compares the value of f new with the value of a first predetermined threshold f 1thresh if the value of f new is not greater than the value of f 1thresh when step 62 is.