QP with bilinear cartpole & pendulum

[bjack205]

Each example should have a method to generate a prototypical QP to be solved when applying SQP.

• [x] Pendulum
• [ ] Cartpole
• [x] Bilinear Pendulum
• [ ] Bilinear Cartpole

QUESTION: What is the exact QP we should be solving? Should the objective include the Hessian of the Lagrangian?