Cannot compute a stabilizing LQR gain (the Riccati solution S and gain matrix K are infinite). \nThis could be because: \n * The original plant has unstable modes that are not controllable, \n * Some unstable modes became uncontrollable for the selected sample time Ts, \n * [Q N;N' R] is indefinite, \n * The discretized values of Q,R,N are too large for the selected sample time Ts.


design