{
  "schema": "csl.scenario/1",
  "id": "two-stage-integrator",
  "horizon": 2,
  "model": {"kind": "linear_discrete", "A": [[1]], "B": [[1]]},
  "initial_state": [0],
  "controls": {"kind": "box", "lower": [0], "upper": [1]},
  "objective": {"kind": "quadratic", "Q": [[2]], "linear": [-2], "offset": 1}
}