Adjusted numerical jacobian settings for more accurate solutions. Added row and column distinction to sym2func. Removed uneeded functions. Updated quadrotor example to new dynamic system class.
Complete restructuring in order to get ready for expansion and growth. Added transverse LQR control and constructed an acrobot periodic swinging problem to demonstrate its use. Started preping for reimplementing hybrid systems. Created new start up script and will implement systems checks here in future.
Minor variable naming and initialization tweaks to ltv lqr and transverse lqr.