Evaluate a cubic polynomial p( u(t) ) and its derivatives in time domain. The output vector y is composed as follows.
y
y[1] = c[1] * u(t)^3 + c[2] * u(t)^2 + c[3] * u(t) + c[4], y[2] = der(y[1]), y[3] = der(y[2]),
with
c[i] := coefficients[i].