From 47c9e3b59640109c9e4d2bbd15e277e3e2b1a483 Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Wed, 26 Apr 2023 10:58:22 +0200
Subject: ADD: another approach passing task 6

---
 templates/LQR.m | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/templates/LQR.m b/templates/LQR.m
index c84a670..c05237d 100644
--- a/templates/LQR.m
+++ b/templates/LQR.m
@@ -18,9 +18,10 @@ classdef LQR
             % 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);
+            % [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 = -G;
+            obj.K = -K;
         end
         
         function [u, ctrl_info] = eval(obj,x)
-- 
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