py_default_default_7.stdout

Linear Quadratic Regulator (LQR) Design:
Continuous-time LQR:
  Optimal gain K = [10.          5.47722558]
  Closed-loop poles: [-2.73861279+1.58113883j -2.73861279-1.58113883j]
  Cost matrix P =
    [[5.47722558 1.        ]
 [1.         0.54772256]]

Discrete-time LQR (dt = 0.1s):
  Optimal gain K = [7.60447174 4.97764814]
  Closed-loop poles: [0.75111759+0.11875296j 0.75111759-0.11875296j]
  Stability margin: 0.7604 < 1.0