A method and system of providing switched broadcasting of content to a number of consumers. If it does, the method includes detecting a frequency response of the received signal and detecting a channel characteristic of a channel according to the frequency response of the received signal. Next, determine whether the reference trajectory and the slow subsystem reference trajectory violate feasibility constraints, and if true, slowing down the reference trajectory and repeating with the generation of the slow subsystem reference trajectory. The machine also includes an electrically-powered drive assembly coupled to the frame and front and rear axles and an inverter electrically coupled to the electrically-powered drive assembly. It can be preferred that the multilayered material have layers that are comprised of resiliently-flexible materials, shape memory materials, andor radiopaque materials.