ame="l00070"></a><span class="lineno">   70</span>&#160;                vk = (y - this%m_previousSignal) / dt</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                ak = (vk - this%m_previousDerivative) / dt</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keywordflow">            end if</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            du = (this%integral_gain * 