op our computational
      solution techniques.</p>

    </subsection> <!-- damped pend -->

  </section> <!-- constant torque -->

  <section><h1>The torque-limited simple pendulum</h1>

    <p>The simple pendulum is fully actuated.  Given enough torque, we can
    produce any number of control solutions to stabilize the originally
    unstable fixed point at the top (such as designing a feedback controller to
    effectively invert gravity).</p>

    <p>The problem begins to get interesting (a.k.a. become