1 files changed, 6 insertions, 0 deletions
diff --git a/templates/LQR.m b/templates/LQR.m
index 2a79da9..c84a670 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -16,11 +16,17 @@ 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);
+            % obj.K = -inv(B'*P_inf*B+R)*B'*P_inf*A;
+            obj.K = -G;
         end
         
         function [u, ctrl_info] = eval(obj,x)
             % YOUR CODE HERE
             % u = ...
+            u = obj.K*x;
             ctrl_info = struct('ctrl_feas',true);
         end
     end