added Vaupel identity
added vaupel
comitting more to Mitra section as it has a nice property of maximizing
stability of Fx trajectories toward stability
adding lx, mux, needed to verify vaupel identity
have working code to optimize full trajectory toward stability. can
switch between maximizing stability between initial and stable rates, or
maximizing stability over the entire trajectory toward stability,
counting the deviation in each iteration
added some code to demonstrate for Albert