1 files changed, 0 insertions, 7 deletions
diff --git a/templates/LQR.m b/templates/LQR.m
index c05237d..2a79da9 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -16,18 +16,11 @@ classdef LQR
         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;
         end
         
         function [u, ctrl_info] = eval(obj,x)
             % YOUR CODE HERE
             % u = ...
-            u = obj.K*x;
             ctrl_info = struct('ctrl_feas',true);
         end
     end