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    dcd553b9
    Added controllers based on control lyapunov functions · dcd553b9
    andersct authored
    - refactor state space models to return function info as dictionaries
    - move riccati solver to misc
    - add derivative calculation to empirical drag model
    - add min norm controller for relative degree 1 control (accel -> v)
    - add min norm controller for relative degree 2 control (accel -> pos)
    - add documentation for the min norm controllers
    dcd553b9
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    Added controllers based on control lyapunov functions
    andersct authored
    - refactor state space models to return function info as dictionaries
    - move riccati solver to misc
    - add derivative calculation to empirical drag model
    - add min norm controller for relative degree 1 control (accel -> v)
    - add min norm controller for relative degree 2 control (accel -> pos)
    - add documentation for the min norm controllers