In both cases defined below, determine whether or not an LSPB solution exists. If not, state why not. If so, determine whether or not it is unique, and if it is unique, explicitly determine it.
axo = 0, xf = 6, to = 0, tf = 4.5, a * max acceleration = l. bxo = -2, xf = -6, to = 2, V = -2, a = 1.