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