Put back in input limits on the actuator in UnderwaterAcrobot. LQR controller is now numerically stable even if pushed outside ROA. Actuator limits are still relatively high to make it easy on SNOPT to run the swingup
Also renabled the joint damping for good measure. Required recalculating the dynamic gradients
Merge pull request #157 from jacob-izr/master

Fixed instability in runLQR in UnderwaterAcrobot example - this time I think it works