[lqr_K, lqr_S, lqr_E] = improved_lqr(ssA, ssB,...
    [1,0;0,sqrt(10);0,0], [.5, 1/.6, 1/25, 1/.25], [1,0;0,sqrt(10);0,0],...
    [0;0;1/50], 1/60, [0;0;1/50],...
    .01);