ek - &amp;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                this%proportional_gain * vk - &amp;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                this%derivative_gain * ak) * dt</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            co = this%m_previousOutput + du</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="l