examples/continuous_with_simulation.py not working

[murrayrm]

I’m trying to run a variant of examples/continuous_with_simulation.py (reformatted as a Jupyter notebook, but same basic code). Jupyter notebook version attached.
continuous_with_simulation.ipynb.txt

• Everything works up until the simulation, though I am not sure I believe the discrete abstraction (it looks like there are some transitions across “corners”; is that plausible?).

• When I try to run the simulation at the end, I get a situation where the computed trajectory does not take me to the desired discrete state. I don’t get an error, but it looks like I am right on the edge of the new partition and so I get “stuck” in the wrong discrete state.

• The controller is “open loop” in the sense that it uses its own internal discrete state assuming that the continuous system is a proper simulation. But because that wasn’t actually the case, we end up getting out of sync…

It seems that there are other related issues (#146, #170, #209).