1 files changed, 3 insertions, 9 deletions
diff --git a/templates/LQR.m b/templates/LQR.m
index c05237d..d23e64a 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -14,20 +14,14 @@ classdef LQR
     methods
         %constructor
         function obj = LQR(Q,R,params)
-            % YOUR CODE HERE
-            % obj.K = ... (save feedback matrix for use in eval function)
             A = params.model.A;
             B = params.model.B;
-            % [X, L, G] = dare(A,B,Q,R);
-            [K,S,e] = dlqr(A,B,Q,R)
-            % obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A;
-            obj.K = -K;
+            [K,~,~] = dlqr(A,B,Q,R);
+            obj.K = K;
         end
         
         function [u, ctrl_info] = eval(obj,x)
-            % YOUR CODE HERE
-            % u = ...
-            u = obj.K*x;
+            u = -obj.K * x;
             ctrl_info = struct('ctrl_feas',true);
         end
     end