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Solve the problem of time-optimal control to the origin for the system i1 = 2x2, i2 = -2x1 + 4u, where |u| < 1.

Solve the problem of time-optimal control to the origin for the system i1 = 2x2, i2 = -2x1 + 4u, where |u| < 1. %3D

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