}\}$, $\widetilde{q}_{0}$=$[0.0, 0]$, and $$\widetilde{a}=\left[ \begin{array}{cc} 0.0 &\ 0.0\\ 0&\ 0.0 \end{array} \right], \hskip 0mm \widetilde{b}=\left[ \begin{array}{cc} 0.0 &\ 0.0\\ 0&\ 0.0 \end{array} \right],