\(V_{i}^{k+1}=\omega\bullet V_{i}^{k}+c_{1}\bullet\text{rand}_{1}\bullet\frac{\left(P_{i}^{k}-X_{i}^{k}\right)}{t}+c_{2}\bullet\text{rand}_{2}\bullet\frac{\left(G^{k}-X_{i}^{k}\right)}{t}\) (4)