(L ijr TL ijr+[q 11 0 0 0])v er,x+[q 12 0 0 0]v er,y+[q 13 0 0 0]v er,z+[v e,gq 14+q 15 0]+L ijr Tb x=0 [q 12 0 0 0]v er,x+(L ijr TL ijr+[q 22 0 0 0])v er,y+[q 23 0 0 0]v er,z+[v e,gq 24+q 25 0]+L ijr Tb y=0 [q 13 0 0 0]v er,x+[q 23 0 0 0]v er,y+(L ijr TL ijr+[q 33 0 0 0])v er,z+[v e,gq 34+q 35 0]+L ijr Tb z=0 [q 14 0]v er,x+[q 24 0]v er,y+[q 34 0]v er,z+q 44v e,g+q 45=0 \begin{aligned} (L_{ijr}^{T}L_{ijr}+\left[\begin{array}{cc}q_{11} & 0\\0 & 0 \end{array}\right])\mathbf{v}_{er,x} +\left[\begin{array}{cc}q_{12} & 0\\0 & 0 \end{array}\right]\mathbf{v}_{er,y} +\left[\begin{array}{cc}q_{13} & 0\\0 & 0 \end{array}\right]\mathbf{v}_{er,z} +\left[\begin{array}{c}v_{e,g}q_{14}+q_{15}\\0\end{array}\right] +L_{ijr}^{T}b_{x} = 0 \\ \left[\begin{array}{cc}q_{12} & 0\\0 & 0\end{array}\right]\mathbf{v}_{er,x} +(L_{ijr}^{T}L_{ijr}+\left[\begin{array}{cc}q_{22} & 0\\0 & 0\end{array}\right])\mathbf{v}_{er,y} +\left[\begin{array}{cc}q_{23} & 0\\0 & 0\end{array}\right]\mathbf{v}_{er,z} +\left[\begin{array}{c}v_{e,g}q_{24}+q_{25}\\0\end{array}\right] +L_{ijr}^{T}b_{y} = 0 \\ \left[\begin{array}{cc}q_{13} & 0\\0 & 0\end{array}\right]\mathbf{v}_{er,x} +\left[\begin{array}{cc}q_{23} & 0\\0 & 0\end{array}\right]\mathbf{v}_{er,y} +(L_{ijr}^{T}L_{ijr}+\left[\begin{array}{cc}q_{33} & 0\\0 & 0\end{array}\right])\mathbf{v}_{er,z} +\left[\begin{array}{c}v_{e,g}q_{34}+q_{35}\\0\end{array}\right] +L_{ijr}^{T}b_{z} = 0 \\ \left[\begin{array}{cc}q_{14} & 0\end{array}\right]\mathbf{v}_{er,x} +\left[\begin{array}{cc}q_{24} & 0\end{array}\right]\mathbf{v}_{er,y} +\left[\begin{array}{cc}q_{34} & 0\end{array}\right]\mathbf{v}_{er,z} +q_{44}v_{e,g} +q_{45} = 0 \end{aligned}