Runs 007 and 008 from 29JUN2013.

Also adds code to compute SRL control design.  This code wasn't run in firmware
but was interesting to see how different the resulting feedback gain was.
Run 009 and 010 of 29JUN2013.

Very little control action, going to increase max allowable torque.
Runs 011, 012, 013.

Still not enough control action, going to increase max allowable torque.
Runs 014, 015, 016.

Steer torque was low amplitude, possibly still with some high frequency
component.  Substantial steer angle and yawing occuring, going to penalize
steer angle more heavily.
Runs 017, 018, 019.

No successful runs, very large steer angles.  Must be extremely sensitive to
max steer angle.
Runs 020, 021, 022.

Pretty good runs, going to increase speed at which we begin estimation. The
gains are extremely sensitive to speed so hopefully by increasing the speed at
which we start estimation (and hence control), the initial steer excursions
won't be as large.