% Vypocet parametrov LQR spatnovazboveho clena pre vymennik tepla
x0 = [1;-1/3];

A = [-1 0; -0.2 -1];
B = [1; 0];
C=eye(2);
D=zeros(2,1);

Q=eye(2);
R=1;

[K,S,E]=LQR(A,B,Q,R);