RobotLocomotion/drake — pull request #157 by jacob-izr (2014-06-04 19:59:20+00:00)
Title: Fixed instability in runLQR in UnderwaterAcrobot example - this time I think it works

Sorry this was a hassle for the automated testing. I think everything's good now. Numerically stable on my machine, even for large initial conditions outside the linear regime.

Renabled input limits and added joint damping for good measure. Input limits are high so that SNOPT easily finds a swingup trajectory.