“…The exact discrete‐time model (5) can thus be interpreted as an Euler approximate model subject to the cumulative error between the map evaluated at the continuous‐time trajectory x ( s ) and the last sampled state x k . Based on purely algebraic rearrangements, a methodology has been provided in References 39,40 to find a (possibly nonunique) matrix , where , , such that which allows to write (5) as …”