How to combine $V$($3\times 3$ matrix) from $V^{-1}XV$?

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$V_i$ and $X$ are $3\times 3$ matrices. $$V_k-V_{k-1}=V_k^{-1}XV_k$$ How to get $V_k$ if $V_{k-1},X$ are known?

The Problem

it is continous system, i discrited that but how to get the $$R_b^l$$ only? this is the book links It is on page 180

Thanks..