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Commit dcd553b9 authored by andersct's avatar andersct
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Added controllers based on control lyapunov functions

- 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
parent 0d4428c5
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