Otherwise, at 132, a new control correction vector is calculated using {HEAD ~ the new step size} along {TAIL ~ the same feasible direction} as proposed by the QP solution, and the solution adjustment is repeated 
Otherwise , at 132 , a new control correction vector is calculated using { HEAD ~ the new step size } along { TAIL ~ the same feasible direction } as proposed by the QP solution , and the solution adjustment is repeated
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH