%% 3
A=[0,1,0,0;
-5000,-100/3,500,100/3;
0,-1,0,1;
0,100/3,-4,-60];
Bu=[0;25/3;0;-1];
Bz=[0;0;0;1];
Bksi=[1;0;0;0];
B=[Bu,Bz];
C=[0,0,1,0];
D=[0,0];
Du=[0];
Qf=7*1e-4;
Rf=1e-8;
Q=diag([1,1,50000,1]);
R=0.001;
K=lqr(A,Bu,Q,R);
H=lqe(A,Bksi,C,Qf,Rf);
Af=A-Bu*K-H*C;
Bf=-H;
Cf=-K;
Df=0;
{"html5":"htmlmixed","css":"css","javascript":"javascript","php":"php","python":"python","ruby":"ruby","lua":"text\/x-lua","bash":"text\/x-sh","go":"go","c":"text\/x-csrc","cpp":"text\/x-c++src","diff":"diff","latex":"stex","sql":"sql","xml":"xml","apl":"apl","asterisk":"asterisk","c_loadrunner":"text\/x-csrc","c_mac":"text\/x-csrc","coffeescript":"text\/x-coffeescript","csharp":"text\/x-csharp","d":"d","ecmascript":"javascript","erlang":"erlang","groovy":"text\/x-groovy","haskell":"text\/x-haskell","haxe":"text\/x-haxe","html4strict":"htmlmixed","java":"text\/x-java","java5":"text\/x-java","jquery":"javascript","mirc":"mirc","mysql":"sql","ocaml":"text\/x-ocaml","pascal":"text\/x-pascal","perl":"perl","perl6":"perl","plsql":"sql","properties":"text\/x-properties","q":"text\/x-q","scala":"scala","scheme":"text\/x-scheme","tcl":"text\/x-tcl","vb":"text\/x-vb","verilog":"text\/x-verilog","yaml":"text\/x-yaml","z80":"text\/x-z80"}