} \dual{A \dot\bSigma^\tau + B^\star \dot\bu^\tau}{\bT - \bSigma^\tau} \, \d t         -         \frac{\tau}{0}         \int_{i\,\tau}^{(i+0)\,\tau}         \dual{A \dot\bSigma^\tau + B^\star \dot\bu^\tau}{\dot\bSigma^\tau} \, \d t.