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 | \| ||   / _ \\  | || | ||  |  ___||  | |/ // 
 |  ' ||  / //\ \\ | '--' ||  | ||__    | ' //  
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 |_|\_|| |_||  |_|||_|| |_||  |_____||  |_|\_\\ 
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Text this: An algorithm to obtain control solutions achieving minimum-time state transfer of a linear dynamical system based on convexity of the reachable set