% Matrici calcolate simbolicamente secondo le approssimazioni di Taylor
Apend1 = [0 1 0 0; 0 0 -m*g/M 0; 0 0 0 1; 0 0 (M+m)*g/(M*l) 0]
Bpend1 = [0 1/M 0 -1/(M*l)]'
Cpend1 = eye(4)
Dpend1 = [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(Apend1,Bpend1,Qpend,Rpend,Npend)

K = lqr(Apend1,Bpend1,Qpend,Rpend,Npend)