% CALCOLIAMO LA LINEARIZZAZIONE APPROSSIMATA in x = [x1_d x2_d x3_d] e con u_d = x3_d*R
[A_maglev,B_maglev,C_maglev,D_maglev] = linmod('maglev_model',[x1_d,x2_d,x3_d],x3_d*R);

Q_maglev = [10 0 0; 0 1 0; 0 0 10];
R_maglev = 1;
N_maglev = zeros(3,1);

[K,S,E] = lqr(A_maglev,B_maglev,Q_maglev,R_maglev,N_maglev)