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From Aqua Gorilla, 4 Years ago, written in Plain Text.
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  1. %% 3
  2. A=[0,1,0,0;
  3.     -5000,-100/3,500,100/3;
  4.     0,-1,0,1;
  5.     0,100/3,-4,-60];
  6. Bu=[0;25/3;0;-1];
  7. Bz=[0;0;0;1];
  8. Bksi=[1;0;0;0];
  9. B=[Bu,Bz];
  10. C=[0,0,1,0];
  11. D=[0,0];
  12. Du=[0];
  13. Qf=7*1e-4;
  14. Rf=1e-8;
  15. Q=diag([1,1,50000,1]);
  16. R=0.001;
  17.  
  18. K=lqr(A,Bu,Q,R);
  19. H=lqe(A,Bksi,C,Qf,Rf);
  20. Af=A-Bu*K-H*C;
  21. Bf=-H;
  22. Cf=-K;
  23. Df=0;