How to calculate PMF after Steered MD without using umbrella simulations?

GROMACS version: 2018.1
GROMACS modification: Yes/No
From the literature search, i have found that for calculating PMF, We have to use Jarzynski equality relationship but I don’t have idea that exactly which systems equation is to be used and how to solve it?

You need to do multiple steered MD simulations are compute the exponential average of the work (which is the integral of the force over distance), as Jarzynski says.

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Thank you for kind information, I have already performed 10 replicas of steered MD but I was not aware about that I have to take exponential average of these multiple replicas (10) as I understood from your reply. Please correct me if I interpret wrong.
Thank you so much for your help.