%c2008lqcM(  A,  B,        C,         Xk,       w,            N, No, Nu, Qy, Qu, ukm1)
%c2008lqcM(eye(2),ones(2,1),ones(1,2),[0.5;1.1], [1 1 1 1 1 1], 6, 0, 0, 10, 10, 0)

A= [1.8100000000000001 -0.90000000000000002 0.0046800000000000001 ;
1 0 0 ;
0 0 0 ];
B= [ 0.0043800000000000002;
0 ;
1 ];
C = [1 0 0];

A=[0 0 0.5;
    1 0 0;
   0 1 0];
B=[-0.9 0.5;
    0 0;
    0 0];
    

c2008lqcM(A,B,C,[0.5;1.1;0.6], 1*ones(100,1), 100, 0, 0, 1, sqrt(1), [0.01; 0.02])