% CALCOLIAMO LA LINEARIZZAZIONE APPROSSIMATA in x = [0 0 0 0], con u = 0
[Apend,Bpend,Cpend,Dpend]=linmod('pendcart',[0 0 0 0],0)

Qpend = [10 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 10];
Rpend = 1;
Npend = zeros(4,1);

% [K,S,E] = lqr(Apend,Bpend,Qpend,Rpend,Npend)
% [S1,E1,K1]= care(Apend,Bpend,Qpend,Rpend,Npend)

K = lqr(Apend,Bpend,Qpend,Rpend,Npend)