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% Example 3.50 
% 
% Design of quadratic optimal regulator system 
% 
g=[0.2 0; 0 0.4]; 
h=[1; 1]; 
q=[1 0; 0 0.5]; 
r=[1]; 
[k,p,e]=dlqr(g,h,q,r); 
disp('The optimal feedback gain matrix k is') 
k