clc;
A=[-4.5204,1.5414,1.3110,-9.8100;-0.2616,-15.7648,78.5888,0;0,1.2077,-3.5614,0;0,0,1,0];
B=[-32.3010,69.0608,-69.0608;-406.0942,-303.3736,303.3736;158.4675,-45.1531,45.1531;0,0,0];
C=eye(4);
D=0;

G=ss(A,B,C,D);
Q=diag([0,0,0,0]);
R=diag([5,4,4]);
%poleG=pole(G);
%pzmap(G)
%axis([-12 0 -3 3])
%t=[0:0.1:5]
%impulse(G,t)
K=lqr(G,Q,R)
%step(G,t)
[0.1221,-0.2071,0.4583,1.1793;-0.0278, -0.2917,-0.3542, -0.4832;0.0278,0.2917,0.3542,0.4832]
[0.1221,-0.2071,0.4583,1.1793;-0.0278, -0.2917, -0.3542,-0.4832;0.0278 ,0.2917,0.3542,0.4832]