answer the question in jula code

Use least squares to find an open$-$loop control sequence of length $N=30$ to drive the Segway back to the origin

and at rest when it starts from an initial point that is one meter to the right of the origin. $x$ and xGoal are given

to you.

You must name your control sequence UControl for the supplied simulation code to work properly. All of the

code that you have to write has been used previously in the project.

We will discover that when "balance" is an issue, feedback control is very challenging. You will see that steering the

Segway to a final goal state does not always result in the Segway producing a maneuver that would be acceptable

for a rider, even in a perfect world where your Segway does not encounter any disturbances!

$(8)1$ # $1$ meter from the goal, at rest $($means all velocities are zero$),$ straight up$!$

$x=[0$;$1\mathrm{.}0$;$0$;$0]$

xGoal$=[0\mathrm{.}0$;$0$;$0$;$0]$

$N=30$

$(A,B)=$ SegwayModel $()$;