Find a control function u(t) : [0,infinity) -> R such that (1) l u(t) l smaller than or equal to 2 for all t in [0,infinity) and 2) u steers \begin{pmatrix}1\\ 1\end{pmatrix} to \begin{pmatrix}0\\ 0\end{pmatrix} where the control system is given by \left(\begin{pmatrix}x\\ y\end{pmatrix}\right)^' = \begin{pmatrix}0&1\\ -1&0\end{pmatrix} \begin{pmatrix}x\\ y\end{pmatrix} + \begin{pmatrix}0\\ 1\end{pmatrix} u(t)

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