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1.2
Algorithm pseudocode
1.2.1
Main solver (section 3-1 in Murphy)
1.2.2
First special case. The reduced Riccati solver (section 3-2 in Murphy book)
1.2.3
Second special case. (section 3-3 in Murphy book)
1.2.4
Transform to
\(u'=F(x)+u^2\)
. remove linear term. section 3-1-3 in Murphy
1.2.5
Special solutions. section 3-1-2 in Murphy
1.2.6
Helper function. Used by Second special case
1.2.7
General solver. Converts to second order. Used if all above fail
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