FORMULAS AND PROCEDURES FOR NONLINEAR CONTROL SYSTEMS
Computational Companion v3.0.01_fix

ONE benchmark plant throughout:
 theta_dot = omega
 omega_dot = -b*omega - sin(theta) + u

This FIX replaces generic MATLAB/Julia scaffolds with method-specific translations
of the executed Python v3.0.01 reference algorithms. Numerical values should agree
within ordinary solver/optimizer tolerances; exact bitwise identity is not expected.

MATLAB target: R2016a-compatible script style where practical.
Julia dependencies: DifferentialEquations.jl, Plots.jl; Optim.jl for optimization.

No manuscript/PDF changes are included in this package.
