Hw6 ex3.b - setting the velocities

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In this problem, you may wonder how to set the boundary conditions for the flat output. Indeed, you need to assume nonzero velocity at each time, which physically means infinite acceleration to be able to describe an instantaneously still vehicle at the initial, intermediate and final position.

You should not assume constraints on the acceleration, but rather you should just reset the vehicle dynamics at each point it needs to stop. For this reason, you will have to define two separate linear systems to find the parameters of your flat output ... --Elisa