MPC new model stroke map

[avikde]

For discrete MPC, use averaging?

• [x] ~try with the nonlinear version of the thrust/strokedev model~
• [x] ~flapping mpc.nb file in mathematica write out the cts dynamics~
• [x] find averageable coordinates
• [x] averaging in mathematica
• [ ] implement nonlinear version and debug #40
• [ ] implement naive linearization
• [ ] implement avg version

[avikde]

Merged the branch due to difficulties merging after indentation change. The avg version still needs debugging.