n

p ( u )=∑ pi N i ,k ( u ) 0 ≤u ≤ umax
i=0

pi (u) = U Ms Pi

where,

−1 3 −3 1
Ms=1/6 3
−3
1
[ 6 3 0
0 3 0
4 1 0
]
U = [ u3 u2 u❑ 1❑ ]

pi−1
p
Pi= i
[ ]
p i+1
p i+2
i∈ [ 1 :n−2 ]