where

$Fi=[fi(\xi 0),fi(\xi 1),fi(\xi 2),...,fi(\xi N-1),fi(\xi N)]T$

$\Theta i=[\theta i(\xi 0),\theta i(\xi 1),\theta i(\xi 2),...,\theta i(\xi N-1),\theta i(\xi N)]T$

$Gi=[gi(\xi 0),gi(\xi 1),gi(\xi 2),...,gi(\xi N-1),gi(\xi N)]T$

$r1,i-1=[r1,i-1(\xi 0),r1,i-1(\xi 1),r1,i-1(\xi 2),...,\u2003r1,i-1(\xi N-1),r1,i-1(\xi N)]T$

$r2,i-1=[r2,i-1(\xi 0),r2,i-1(\xi 1),r2,i-1(\xi 2),...,\u2003r2,i-1(\xi N-1),r2,i-1(\xi N)]T$

$r3,i-1=[r3,i-1(\xi 0),r3,i-1(\xi 1),r3,i-1(\xi 2),...,\u2003r3,i-1(\xi N-1),r3,i-1(\xi N)]T$

$A11=D3+a1,i-1D2-a2,i-1D+a3,i-1I$

$A12=a4,i-1I,A13=O$

$A21=b2,i-1D2+b3,i-1D+b4,i-1I$

$A22=D2+b1,i-1D,A23=O$

$A31=c3,i-1I,A32=O,A33=D2+c1,i-1D-c2,i-1I$