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% Example 3.44 
% 
% Design of quadratic optimal regulator system 
% 
a=[0 1 0; 0 0 1; -35 -27 -9]; 
b=[0; 0; 1]; 
q=[1 0 0; 0 1 0; 0 0 1]; 
r=[1]; 
[k,p,e]=lqr(a,b,q,r); 
disp(' The optimal feedback gain matrix k is') 
k 
disp(' The solution of Riccati equation is') 
p 
disp(' The eigenvalues of close-loop system are') 
e