BENCHMARK TEST:
Simple Pendulum with dt=0.01

    07/11/2018 - Initial Test 
    574.537 ms (2843139 allocations: 112.27 MiB)

    07/11/2018 - Change Jacobian method to augmented
    332.539 ms (1778025 allocations: 80.21 MiB)

    Changes to backward pass
    508.597 ms (2255287 allocations: 101.93 MiB)
