//! Constructs a new expression where forward variables (supposed to be at most in t+1) have been replaced by themselves at t, plus a new aux var representing their (time) differentiate
/*!
\param[in,out] subst_table Map used to store mapping between a given
forward variable and the aux var that contains its differentiate
\param[out] neweqs Equations to be added to the model to match the creation of auxiliary variables.