{
  "kind": "original-svg",
  "title": "The constraint and its failure modes",
  "description": "Two original panels: x=h and y=u, barrier lower bound u=-2h, actuator bounds -1/+1, shaded feasible band, empty interval for h<-.5. Second panel traces h over six seconds for unfiltered baseline, dt=.1 nominal, dt=.75 nominal, and biased cases; show h=0 line, red negative samples and distinct infeasibility markers. Caption explains first-order synthetic margin and diagnostic continuation.",
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  }
}