convert solve_open_loop from recursive to iterative, extract from it poly_to_poly
convert solve_open_loop from recursive to iterative, extract from it poly_to_poly

tulip-control/tulip-control,necozay/tulip-control,necozay/tulip-control,necozay/tulip-control,necozay/tulip-control,tulip-control/tulip-control,necozay/tulip-control,tulip-control/tulip-control,tulip-control/tulip-control