# Data for Fig. 6: 

# linear controller  
# ϵ        aᵀa/2   aᵀa/2 + u²/ϵ 
  0.0      2.946    2.947   
  0.0001   2.945    2.947
  0.0002   2.944    2.947                 
  0.0005   2.941    2.947 
  0.001    2.936    2.948
  0.002    2.928    2.952
  0.005    2.922    2.981
  0.01     2.961    3.071
  0.02     3.093    3.293
  0.05     3.49     3.91
  0.1      4.08     4.84

# quadratic controller
# ϵ        aᵀa/2    aᵀa/2 + u²/ϵ 
  0.0      2.946    2.947
  0.0001   2.946    2.947
  0.0002   2.945    2.947                 
  0.0005   2.942    2.949 
  0.001    2.937    2.951
  0.002    2.929    2.958
  0.005    2.923    2.993
  0.01     2.959    3.099
  0.02     3.107    3.399
  0.05     3.68     4.61
  0.1      4.71     7.32]