# R_not_sq: input weighting matrix should be square, and of shape 1x1 (mxm)
# input constraints
u_lb = [-100]
u_ub = [100]
# weighting matrices
Q = [1, 0; 0, 1] 
R = [1, 1, 1]  # not square, should 1x1 (mxm)
P = [2, 3; 3, 4]
# system matrices
A = [1.,  0.0095162581964040437; 0.,  0.90483741803595941] 
B = [9.6748360719191485e-05; 0.019032516392808087]
# dimensions
N = 2
n = 2
m = 1