x <- seq(1e-5, 5.99999, length.out = 100)
bmat <- bsplines(x, iknots = c(1, 1.5, 2.3, 4, 4.5), bknots = c(0, 6))
theta <- matrix(c(1, 0, 3.5, 4.2, 3.7, -0.5, -0.7, 2, 1.5), ncol = 1)
cp0 <- cp(bmat, theta)
cp1 <- insert_a_knot(x = cp0, xi_prime = 3)
plot(cp0, cp1, color = TRUE, show_spline = TRUE)