MPC new model stroke map

[avikde]

For discrete MPC, use averaging?

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

[avikde]

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