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Matlab simulation code written by Martin Karlsson and Fredrik Bagge Carlson, 
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Dept. Automatic Control, Lund University, Lund, Sweden.
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martin.karlsson@control.lth.se

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Code example for the scientific paper "Two-Degree-of-Freedom Control for 
Trajectory Tracking and Perturbation Recovery during Execution of Dynamical 
Movement Primitives" (IFAC 2017) by Martin Karlsson, Fredrik Bagge Carlson, 
Anders Robertsson and Rolf Johansson. The main.m file produces two plots: 
one with a stopping perturbation, and one with a moving perturbation.