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A reference is made to eq. (4.1), which states x^(k+1) = x^(k)+a^(k)d^(k). However, the equations of pg. 82 make sense for x^(k) = x^(k-1)+a^(k)d^(k-1): We have x^(k), calculate df(x^(k))/da = df/dx(@x^(k))*(-g^(k-1)) and compute x^(k+1) =x^(k)+a^(k+1)*d^(k), where a^(k+1) is given by eq. (5.37).
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