“…Altogether, both (4.1) and (4.3) are linear symmetric positive definite systems in the unknowns t i,ℓ h and s i+1 h . The orthogonality constraint in (4.1) can be imposed at the linear algebraic level by introducing a Lagrange multiplier associated with it (see, e.g., the discussion in [8, section 7.2.5]) or via a null-space method as done, e.g., in [25,23,20]. In this work, we implement it using a Lagrange multiplier.…”