anchor.diff:        END DO
         CALL MAP_CopyInput (MAP_Input(1),  u_MAP,  MESH_NEWCOPY, Errstat, ErrMsg) ! do this to initialize meshes/allocatable arrays for output of ExtrapInterp routine
            CALL CheckError( ErrStat, 'Message from MAP_CopyInput (u_MAP): '//NewLine//ErrMsg )
  -                  
  +               
  +         ! Initialize predicted states for pc loop:
  +      CALL MAP_CopyContState   ( x_MAP,  x_MAP_pred, MESH_NEWCOPY, Errstat, ErrMsg)
  +         CALL CheckError( ErrStat, 'Message from MAP_CopyContState (init): '//NewLine//ErrMsg )
  +      CALL MAP_CopyDiscState   (xd_MAP, xd_MAP_pred, MESH_NEWCOPY, Errstat, ErrMsg)  
  +         CALL CheckError( ErrStat, 'Message from MAP_CopyDiscState (init): '//NewLine//ErrMsg )
  +      CALL MAP_CopyConstrState ( z_MAP,  z_MAP_pred, MESH_NEWCOPY, Errstat, ErrMsg)
  +         CALL CheckError( ErrStat, 'Message from MAP_CopyConstrState (init): '//NewLine//ErrMsg )
  +         
      END IF
   
   
  
positive.code:    CALL ED_CopyInput (ED_Input(1),  u_ED,  MESH_NEWCOPY, Errstat, ErrMsg) ! do this to initialize meshes/allocatable arrays for output of ExtrapInterp routine
        CALL CheckError( ErrStat, 'Message from ED_CopyInput (u_ED): '//NewLine//ErrMsg )
     
     
     
     ! ........................
     ! initialize ServoDyn 
  
negative.code: TYPE(ED_InputType)                    :: u_ED                                    ! System inputs
  TYPE(ED_OutputType)                   :: y_ED                                    ! System outputs
  
  TYPE(ED_ContinuousStateType)          :: x_ED_pred                               ! Predicted continuous states
  TYPE(ED_DiscreteStateType)            :: xd_ED_pred                              ! Predicted discrete states
  TYPE(ED_ConstraintStateType)          :: z_ED_pred                               ! Predicted constraint states
  
  TYPE(ED_InputType), ALLOCATABLE       :: ED_Input(:)                             ! Array of inputs associated with ED_InputTimes
  REAL(DbKi),         ALLOCATABLE       :: ED_InputTimes(:)                        ! Array of times associated with ED_Input
  
  