Add a general StateSpaceODE for common use cases.

[robfalck]

Proposed feature.

Many simple dynamic systems can be represented in state space form.

$$\dot{x} = [A] \bar{x} + [B] \bar{y}$$

$$y = [C] \bar{x} + [B] \bar{y} $$

This system should be able to accept matrices $[A]$, $[B]$, $[C]$, $[D]$ as inputs.

In this form, $\bar{x}$ is an $n \times 1$ vector where $n$ represents the number of scalar states. $\bar{y}$ is an $m \times 1$ vector where $m$ represents the number of scalar controls. $\bar{y}$ is an $p \times 1$ vector where $p$ represents the number of scalar outputs.

Example

TBD, but we will likely use a state space form of the double integrator or add some form of mass-sprint-damper.