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+This is an implementation (mainly C++) or temporally coupled dynamical movement
+primitives (DMPs), described in
+
+Karlsson, M., F. Bagge Carlson, A. Robertsson, and R. Johansson (2017a).
+“Two-degree-of-freedom control for trajectory tracking and perturbationrecovery
+during execution of dynamical movement primitives”. In:20thIFAC World Congress.
+July 9–14, Toulouse, France, pp. 1959–1966.
+
+Karlsson, M., A. Robertsson, and R. Johansson (2018a). “Convergence ofdynamical
+movement primitives with temporal coupling”. In:EuropeanControl Conference 
+(ECC). June 12–15, Limassol, Cyprus, pp. 32–39.
+
+Requirements:
+
+Armadillo
+C++ library for linear algebra & scientific computing
+http://arma.sourceforge.net/
+
+