CDist:

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   Finds the actuation distribution matrix that distributes a control
   demand among n bidirectional actuators. The control distribution 
   matrix is found be solving the constrained optimization problem

   J = 0.5*u'*u + L( x - a*u )

   where x is the desired control demand. The control demand for each 
   actuator is found from

   u = h*x;

   Since version 1.
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   Form:
   h = CDist( a )
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   Inputs
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   a            (m,n)     The unit vectors for the actuators
                          where the control demand is of length m
                          and the number of actuators equal to n

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   Outputs
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   h            (n,m)     The control distribution matrix

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