E/LQR: trArray:[0.030182902, 0.7324116, 0.024697565, 0.67974436, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0671063, 0.7161498, 0.010054999, 0.69464016, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057718758, 0.72845584, 0.04069753, 0.6814429, 0.0, 0.0, 0.0] E/LQR: trArray:[0.049928922, 0.72656626, 0.025128352, 0.68481904, 0.0, 0.0, 0.0] E/LQR: trArray:[0.047039438, 0.731288, 0.022909347, 0.680059, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054592133, 0.73129827, 0.016955312, 0.67965823, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053624254, 0.72704417, 0.024227636, 0.6840645, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06322499, 0.7212286, 0.021567963, 0.6894684, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053800195, 0.7134487, 0.015036843, 0.69847727, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054025207, 0.73038596, 0.028967472, 0.6802781, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06716678, 0.7230277, 0.040702347, 0.68634033, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055976965, 0.72978127, 0.024888871, 0.6809305, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056308307, 0.7297652, 0.020553496, 0.6810651, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056560792, 0.7238439, 0.016132597, 0.68745226, 0.0, 0.0, 0.0] E/LQR: trArray:[0.040167563, 0.7253332, 0.01199006, 0.6871205, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056679785, 0.73374707, 0.027971065, 0.67647654, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054181933, 0.7249993, 0.03127067, 0.6859028, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062487863, 0.720119, 0.02964575, 0.6903948, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051657308, 0.72603095, 0.023575002, 0.68531364, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054035056, 0.73167795, 0.027288662, 0.6789572, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055149376, 0.7306236, 0.021166874, 0.6802203, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06411374, 0.73004484, 0.012962699, 0.6802618, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062987775, 0.73137873, 0.024740381, 0.67860574, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07026196, 0.7271846, 0.013538679, 0.6827024, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04716127, 0.73223686, 0.028691731, 0.6788091, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062256742, 0.72535664, 0.036689248, 0.6845697, 0.0, 0.0, 0.0] E/LQR: trArray:[0.052313045, 0.73212606, 0.006273189, 0.67912835, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060020942, 0.7286009, 0.0336097, 0.6814754, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060909443, 0.74161917, 0.020275312, 0.66774255, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06577749, 0.7242779, 0.026630748, 0.6858467, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06293395, 0.73653996, 0.01540693, 0.67328364, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05915943, 0.7295134, 0.015349087, 0.6812304, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05257868, 0.7265629, 0.01795504, 0.68484986, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062874936, 0.7196397, 0.018105913, 0.691258, 0.0, 0.0, 0.0] E/LQR: trArray:[0.047098488, 0.7258284, 0.02677147, 0.6857391, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04806599, 0.72818977, 0.019855447, 0.6833996, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055020243, 0.71828103, 0.02040382, 0.6932739, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05686716, 0.7282465, 0.013292918, 0.6828224, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060122784, 0.72564083, 0.030024856, 0.6847842, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05059952, 0.72291595, 0.03478689, 0.6882021, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05649247, 0.72295165, 0.024454674, 0.68815076, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06296722, 0.72882295, 0.03024567, 0.68112963, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058073938, 0.7251275, 0.018770734, 0.68590474, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062747166, 0.72629476, 0.028364915, 0.6839256, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060851503, 0.7277031, 0.01935134, 0.68291354, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0500856, 0.7289552, 0.032465927, 0.6819543, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06414127, 0.7357154, 0.027917612, 0.6736686, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054774355, 0.72602636, 0.019851968, 0.6851944, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050564095, 0.73051447, 0.03470061, 0.6801381, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0548072, 0.7276233, 0.020284325, 0.6834832, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060344428, 0.72187436, 0.027280075, 0.6888481, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05390947, 0.73735046, 0.028863147, 0.67273706, 0.0, 0.0, 0.0] E/LQR: trArray:[0.064750105, 0.72993034, 0.025591921, 0.67996645, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058089714, 0.7310273, 0.01949955, 0.67959154, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056885134, 0.7251989, 0.011900009, 0.68608236, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055969898, 0.7377321, 0.026202936, 0.67225915, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059111163, 0.72972167, 0.0139365215, 0.6810417, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05986599, 0.72787464, 0.023113824, 0.6827008, 0.0, 0.0, 0.0] E/LQR: trArray:[0.061477173, 0.733283, 0.026014388, 0.67663854, 0.0, 0.0, 0.0] E/LQR: trArray:[0.08103797, 0.7305263, 0.018518278, 0.67780614, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057032548, 0.7268057, 0.026716575, 0.68394953, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062378485, 0.7284612, 0.0103091, 0.6821634, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057654373, 0.7303595, -3.3871215E-4, 0.6806253, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051599752, 0.7257144, 0.03602946, 0.6851116, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050350457, 0.73224735, 0.023379385, 0.6787725, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06026219, 0.73170143, 0.026634593, 0.6784337, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06543937, 0.72344893, 0.018800728, 0.6870125, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056709252, 0.72080415, 0.017413808, 0.6905956, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06541874, 0.7305189, 0.022553422, 0.6793776, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055468593, 0.7334304, 0.016316207, 0.6773013, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054641183, 0.72822964, 0.01657948, 0.6829504, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058619853, 0.723752, 0.015719235, 0.6873861, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04684612, 0.7273945, 0.041505434, 0.6833593, 0.0, 0.0, 0.0] E/LQR: trArray:[0.061915983, 0.72926503, 0.024027236, 0.6810005, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060623687, 0.73153347, 0.02971295, 0.6784546, 0.0, 0.0, 0.0] E/LQR: trArray:[0.067936175, 0.7262796, 0.027719995, 0.6834722, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05131398, 0.7268213, 0.017528988, 0.68468285, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05046565, 0.7237546, 0.020005092, 0.68791884, 0.0, 0.0, 0.0] E/LQR: trArray:[0.064536, 0.7261947, 0.022270536, 0.684091, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06843299, 0.72794306, 0.020610705, 0.6819024, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055052347, 0.73224396, 0.022767905, 0.6784319, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062353045, 0.73002267, 0.022492874, 0.6802008, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054540705, 0.7274127, 0.021047398, 0.68370533, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05070718, 0.7278129, 0.020496882, 0.6835914, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06972768, 0.7306967, 0.038824886, 0.67802155, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055923305, 0.72945124, 0.020574225, 0.68143255, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059993938, 0.7214427, 0.016151292, 0.6896814, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057900965, 0.7282656, 0.024334615, 0.68241096, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06724099, 0.7252199, 0.033228863, 0.68442, 0.0, 0.0, 0.0] E/LQR: trArray:[0.063430004, 0.7241971, 0.029548157, 0.68603367, 0.0, 0.0, 0.0] E/LQR: trArray:[0.066692345, 0.7362493, 0.028087808, 0.6728301, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05353412, 0.7162826, 0.023115829, 0.69536954, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053499293, 0.72804624, 0.01915046, 0.68316895, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062556006, 0.7275001, 0.02150231, 0.6829114, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05288849, 0.73425645, 0.022897592, 0.67642146, 0.0, 0.0, 0.0] E/LQR: trArray:[0.070894375, 0.7245231, 0.021448921, 0.6852592, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06193613, 0.71586365, 0.024922173, 0.69504094, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0761098, 0.73318714, 0.016907023, 0.675543, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06591219, 0.72915167, 0.025115633, 0.6807074, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06833529, 0.73136514, 0.02233977, 0.6781861, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054165933, 0.734362, -0.0010905204, 0.67659235, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06626298, 0.72233105, 0.014080523, 0.6882216, 0.0, 0.0, 0.0] E/LQR: trArray:[0.061786857, 0.7306161, 0.028041452, 0.67940885, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059741147, 0.72877437, 0.028916374, 0.6815297, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04720329, 0.7262551, 0.03305061, 0.6850059, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06261445, 0.7285342, 0.017465703, 0.6819181, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05955834, 0.7258775, 0.032676112, 0.68446106, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06949938, 0.7341768, 0.020898975, 0.67506856, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06499759, 0.724543, 0.031713344, 0.6854247, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058620475, 0.7253193, 0.025555104, 0.68543607, 0.0, 0.0, 0.0] E/LQR: trArray:[0.063210554, 0.72452277, 0.0120717725, 0.68624014, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058233198, 0.7320474, 0.011644183, 0.67866045, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06290622, 0.736345, 0.028136374, 0.6730879, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05746322, 0.7294808, 0.0180517, 0.6813442, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058697537, 0.72600776, 0.038650356, 0.68408585, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06264927, 0.73325753, 0.0068798354, 0.67702365, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056447726, 0.72897494, 0.02929025, 0.6815801, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062068693, 0.725213, 0.017456058, 0.68549913, 0.0, 0.0, 0.0] E/LQR: trArray:[0.067079, 0.7349402, 0.027132474, 0.67426044, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05735921, 0.7278844, 0.030265523, 0.6826261, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07203144, 0.72860533, 0.0154396305, 0.68096054, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06037695, 0.7333319, 0.03384982, 0.67633814, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058655944, 0.7256537, 0.03262546, 0.68477863, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05881668, 0.72325784, 0.0074238856, 0.68802875, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048436213, 0.72708446, 0.021826027, 0.6844894, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062473662, 0.7317912, 0.022761986, 0.6782777, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058503516, 0.72458196, 0.01610591, 0.6865122, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04861382, 0.72964436, 0.031752795, 0.6813572, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051513888, 0.7197779, 0.011641709, 0.6921927, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04197921, 0.7174461, 0.023968304, 0.6949349, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05871252, 0.73050493, 0.027506929, 0.6798227, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055303708, 0.72678936, 0.020683559, 0.6843178, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07845118, 0.7259593, 0.01932187, 0.6829753, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06566983, 0.73430455, 0.022242391, 0.6752701, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056099825, 0.72764945, 0.02488836, 0.6831981, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07077783, 0.7320815, 0.020307446, 0.677226, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048612304, 0.72381175, 0.013296358, 0.6881544, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055718742, 0.733163, 0.023425678, 0.6773616, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046517987, 0.72770905, 0.013703686, 0.6841696, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05514068, 0.7339754, 0.01840328, 0.6766837, 0.0, 0.0, 0.0] E/LQR: trArray:[0.063903175, 0.7245324, 0.03139576, 0.6855535, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05973987, 0.72985226, 0.030801762, 0.6802927, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060641903, 0.7289262, 0.019417, 0.6816247, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05565473, 0.73016155, 0.007173561, 0.6809663, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05966875, 0.73334706, 0.019217465, 0.67695826, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05340399, 0.7314768, 0.03141358, 0.6790457, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04643032, 0.7218399, 0.016171768, 0.6903116, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05294094, 0.731885, 0.016420355, 0.6791701, 0.0, 0.0, 0.0] E/LQR: trArray:[0.065147266, 0.73321, 0.029290618, 0.67624044, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060596462, 0.73116165, 0.029453654, 0.67886907, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06293373, 0.7292928, 0.017208528, 0.6810839, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05444724, 0.7384843, 0.015548108, 0.6718888, 0.0, 0.0, 0.0] E/LQR: trArray:[0.052626915, 0.72872156, 0.00915694, 0.6827236, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06261849, 0.7321767, 0.013298513, 0.67809975, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05392953, 0.72949153, 0.0215623, 0.68151945, 0.0, 0.0, 0.0] E/LQR: trArray:[0.044463642, 0.7295121, 0.029785931, 0.68187094, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058404278, 0.73119396, 0.0189555, 0.6794006, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06794773, 0.73135835, 0.018221222, 0.6783554, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04895586, 0.73633105, 0.02630866, 0.6743352, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05218577, 0.7298944, 0.0124542285, 0.68145114, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0683326, 0.7307411, 0.02762115, 0.67866445, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06453312, 0.7257977, 0.021163166, 0.68454754, 0.0, 0.0, 0.0] E/LQR: trArray:[0.049309757, 0.7290356, 0.014616615, 0.68254095, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058413595, 0.72967714, 0.036094334, 0.68033546, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0473458, 0.7287531, 0.0157266, 0.6829568, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060604822, 0.73467785, 0.026981596, 0.6751648, 0.0, 0.0, 0.0] E/LQR: trArray:[0.042481583, 0.7328129, 0.020241426, 0.678801, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0596467, 0.7277857, 0.017228449, 0.68298864, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05454505, 0.7207043, 0.022874206, 0.69071496, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05330614, 0.73435885, 0.032635175, 0.6758777, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056486383, 0.7309736, 0.022467557, 0.6796927, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058295745, 0.73357505, 0.010348615, 0.67702454, 0.0, 0.0, 0.0] E/LQR: trArray:[0.068602, 0.7300559, 0.015847625, 0.67975074, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062446486, 0.7365289, 0.023790687, 0.6730971, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062355693, 0.73667336, 0.021391565, 0.67302793, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05913451, 0.74182457, 0.03436259, 0.66709733, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05686915, 0.73861825, 0.017526766, 0.6714923, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04535596, 0.7202955, 0.016280107, 0.69199157, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055379596, 0.72548926, 0.008093694, 0.68595403, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060173173, 0.73188674, 0.02870028, 0.6781574, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057377588, 0.730251, 0.009596013, 0.6806977, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05590437, 0.7399486, 0.022970146, 0.6699426, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046753783, 0.72972864, 0.019053256, 0.6818704, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053973157, 0.7300929, 0.016891936, 0.68100363, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06298949, 0.7379575, 0.025749467, 0.6714077, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0542799, 0.73106474, 0.0138936695, 0.68000376, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053366307, 0.73047596, 0.016960884, 0.68063885, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058227297, 0.7390537, 0.017771713, 0.6708899, 0.0, 0.0, 0.0] E/LQR: trArray:[0.052501377, 0.73506206, 0.025596993, 0.6754792, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05958847, 0.73265314, 0.021754067, 0.67763966, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06172113, 0.73472077, 0.005773449, 0.6755312, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048211668, 0.73486257, 0.01597827, 0.67631173, 0.0, 0.0, 0.0] E/LQR: trArray:[0.047723092, 0.7335085, 0.033027396, 0.67719793, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056119688, 0.7291504, 0.02681278, 0.6815214, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060908087, 0.74126357, 0.015224758, 0.6682714, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056336485, 0.7357129, 0.024096103, 0.67451626, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07200405, 0.7414543, 0.026709953, 0.6665941, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056852255, 0.73299295, 0.031125868, 0.6771414, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053422187, 0.7379965, 0.022999823, 0.67229325, 0.0, 0.0, 0.0] E/LQR: trArray:[0.039362762, 0.7324972, 0.032107897, 0.67887217, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06445067, 0.737773, 0.016989611, 0.67175037, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057320356, 0.72823215, 0.026365247, 0.68242013, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057504088, 0.72945744, 0.031221649, 0.68088937, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07106866, 0.7372255, 0.02250743, 0.67152166, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05707069, 0.7318298, 0.020733561, 0.67877704, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06942815, 0.7322382, 0.027670141, 0.6769353, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056880135, 0.7337712, 0.016413923, 0.6768124, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05920916, 0.7301075, 0.027616858, 0.6802019, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07113993, 0.7363091, 0.027345942, 0.6723394, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06747306, 0.73268783, 0.019863352, 0.67692053, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062825754, 0.7303309, 0.01679963, 0.6799907, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05618462, 0.73650604, 0.031880703, 0.67333925, 0.0, 0.0, 0.0] E/LQR: trArray:[0.039778832, 0.7297371, 0.027755393, 0.6820053, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04588792, 0.72100455, 0.011639537, 0.6913111, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07063916, 0.7334396, 0.021241777, 0.67574054, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06958789, 0.7355377, 0.019384962, 0.6736216, 0.0, 0.0, 0.0] E/LQR: trArray:[0.052738804, 0.73070765, 0.021039087, 0.6803252, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07066212, 0.7394829, 0.022500025, 0.66907823, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05212978, 0.7374613, 0.023159133, 0.67297614, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06296259, 0.7345883, 0.01439307, 0.67543226, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053908188, 0.7332753, 0.023861498, 0.67737144, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05704179, 0.72889966, 0.033224806, 0.68143046, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05947046, 0.731278, 0.014543739, 0.6793264, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057128284, 0.7414332, 0.024962557, 0.6681243, 0.0, 0.0, 0.0] E/LQR: trArray:[0.064739734, 0.7308876, 0.024035167, 0.6789952, 0.0, 0.0, 0.0] E/LQR: trArray:[0.068170816, 0.7318115, 0.025738487, 0.6776004, 0.0, 0.0, 0.0] E/LQR: trArray:[0.043754615, 0.726016, 0.0238459, 0.68587005, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05402885, 0.73910356, 0.012659953, 0.6713022, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07056405, 0.7315054, 0.026107904, 0.6776717, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056384727, 0.7316815, 0.024078624, 0.67888373, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04663857, 0.7273652, 0.027959658, 0.6840928, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04824851, 0.74106956, 0.022434799, 0.6693167, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059160475, 0.73507327, 0.017177068, 0.6751833, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050700344, 0.73360306, 0.022374917, 0.6773149, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0674051, 0.7307977, 0.022535956, 0.67888397, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058947988, 0.74089843, 0.035998803, 0.668056, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05218003, 0.72803104, 0.030908056, 0.6828564, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05715033, 0.72968006, 0.030843928, 0.6806979, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06464345, 0.7337015, 0.020830315, 0.6760691, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04044305, 0.7281578, 0.02712961, 0.6836774, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04709847, 0.73611504, 0.03540478, 0.67428696, 0.0, 0.0, 0.0] E/LQR: trArray:[0.047225192, 0.7303409, 0.023837682, 0.68103135, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06137477, 0.728732, 0.012894633, 0.68192136, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051705673, 0.73121667, 0.02661993, 0.6796619, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060847607, 0.7329155, 0.039369654, 0.6764485, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050897636, 0.7250962, 0.038746234, 0.68567014, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05362147, 0.7324519, 0.01485995, 0.67854124, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06631663, 0.73656565, 0.02717158, 0.6725584, 0.0, 0.0, 0.0] E/LQR: trArray:[0.041979734, 0.7327064, 0.026222758, 0.6787427, 0.0, 0.0, 0.0] E/LQR: trArray:[0.049643733, 0.73068225, 0.020160947, 0.68061185, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05233785, 0.72379214, 0.02491792, 0.6875789, 0.0, 0.0, 0.0] E/LQR: trArray:[0.052212194, 0.72747695, 0.024696026, 0.6836968, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06226073, 0.7242719, 0.025950106, 0.68620723, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05611266, 0.73478734, 0.023364963, 0.6755687, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04820055, 0.7334014, 0.023103435, 0.6776911, 0.0, 0.0, 0.0] E/LQR: trArray:[0.034807295, 0.7349107, 0.024006022, 0.6768444, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050842013, 0.7332972, 0.021469498, 0.6776647, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0667412, 0.7404964, 0.030796414, 0.6680288, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07182404, 0.72352695, 0.029401243, 0.6859195, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05976194, 0.7359816, 0.01615186, 0.6741652, 0.0, 0.0, 0.0] E/LQR: trArray:[0.044920027, 0.7378684, 0.007886351, 0.67340195, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06745163, 0.72718555, 0.030325333, 0.68244565, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048554853, 0.72740847, 0.022470236, 0.68411595, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058200166, 0.7328575, 0.011204782, 0.6777957, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059810355, 0.7293027, 0.017742068, 0.681341, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050958667, 0.72505647, 0.017215088, 0.6865859, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05854493, 0.73431164, 0.023257233, 0.6758831, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04346382, 0.7319262, 0.033605937, 0.6791655, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056706376, 0.73047996, 0.03108258, 0.6798658, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060655665, 0.7293736, 0.02855453, 0.68082297, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053941272, 0.73672307, 0.016772296, 0.67383105, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060063735, 0.7309546, 0.033935554, 0.67893004, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05674274, 0.7276121, 0.030313807, 0.6829656, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0665304, 0.72862136, 0.021818932, 0.68132865, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060449038, 0.7283219, 0.019791115, 0.68227667, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05178992, 0.73453814, 0.016594827, 0.6763846, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054861214, 0.7246528, 0.025595628, 0.6864498, 0.0, 0.0, 0.0] E/LQR: trArray:[0.072822675, 0.72543687, 0.031311724, 0.68370885, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053953916, 0.73107916, 0.012897138, 0.68003374, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06358406, 0.72934693, 0.021948913, 0.68082917, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04024951, 0.724277, 0.025166377, 0.6878732, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0550136, 0.72612286, 0.01484862, 0.6851998, 0.0, 0.0, 0.0] E/LQR: trArray:[0.034596063, 0.72771853, 0.02174886, 0.6846576, 0.0, 0.0, 0.0] E/LQR: trArray:[0.066713504, 0.74115473, 0.027474007, 0.6674461, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06854716, 0.72637975, 0.024307387, 0.6834346, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053886984, 0.72982943, 0.040923994, 0.6802722, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053226765, 0.7323768, 0.010067529, 0.6787413, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05773203, 0.727479, 0.018021643, 0.6834593, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06274691, 0.73128605, 0.021082407, 0.6788513, 0.0, 0.0, 0.0] E/LQR: trArray:[0.061347693, 0.73346037, 0.016384305, 0.67675996, 0.0, 0.0, 0.0] E/LQR: trArray:[0.065173164, 0.73242265, 0.027890036, 0.67714965, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05542389, 0.7387343, 0.028982684, 0.6710886, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051515333, 0.7185418, 0.028762287, 0.6929767, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057123516, 0.7287414, 0.027676113, 0.6818409, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062488668, 0.7239609, 0.027831407, 0.6864409, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054450978, 0.73176795, 0.03674039, 0.6783811, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060128152, 0.72852594, 0.018764911, 0.6821164, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06990319, 0.72665256, 0.014530714, 0.6832852, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05888361, 0.72509944, 0.03414065, 0.6852722, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06965159, 0.7271724, 0.022658756, 0.6825362, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04571037, 0.7314217, 0.024779204, 0.6799402, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048350148, 0.72323155, 0.029619968, 0.688274, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05063659, 0.7313625, 0.020370156, 0.6798014, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059359666, 0.72477937, 0.02646689, 0.6859088, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048272826, 0.72797745, 0.018339405, 0.6836536, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06253652, 0.73791087, 0.021749096, 0.67164266, 0.0, 0.0, 0.0] E/LQR: trArray:[0.057530407, 0.7309531, 0.022537978, 0.67962474, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05787153, 0.7243463, 0.016111182, 0.68681437, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054658763, 0.73468286, 0.025477873, 0.6757252, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04108716, 0.72506434, 0.024255417, 0.68702644, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0577809, 0.7295535, 0.014686355, 0.68132037, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06778632, 0.7337636, 0.016974078, 0.6758018, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05385267, 0.7321458, 0.024123967, 0.67858714, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056660827, 0.72583544, 0.030444585, 0.68485445, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07119555, 0.7342828, 0.012615586, 0.6749821, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06555393, 0.7308885, 0.021226838, 0.6790097, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058238883, 0.7292713, 0.011211695, 0.6816493, 0.0, 0.0, 0.0] E/LQR: trArray:[0.045846418, 0.7301861, 0.026129786, 0.6812075, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05234992, 0.72575676, 0.021967325, 0.6856048, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06307802, 0.73126894, 0.016962051, 0.6789545, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054950442, 0.72993094, 0.041463856, 0.6800457, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06209053, 0.72664475, 0.009522108, 0.6841356, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05935723, 0.7347874, 0.033822756, 0.6748484, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059485022, 0.73007005, 0.02860286, 0.6801774, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05084691, 0.72769374, 0.020924082, 0.6836949, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06249142, 0.7254817, 0.013718693, 0.6852611, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04951289, 0.73210245, 0.019996203, 0.67909837, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062025674, 0.7241318, 0.023138259, 0.6864768, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046062283, 0.7314169, 0.024709003, 0.67992437, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06333317, 0.7266222, 0.024200644, 0.6836838, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0438871, 0.7298436, 0.018774861, 0.68194556, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05823189, 0.7303391, 0.014920756, 0.68043464, 0.0, 0.0, 0.0] E/LQR: trArray:[0.054810785, 0.72758305, 0.023646241, 0.6834175, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05938856, 0.7257901, 0.023044089, 0.6849604, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046287104, 0.72013897, 0.009190075, 0.69222325, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04763306, 0.731256, 0.018981662, 0.6801731, 0.0, 0.0, 0.0] E/LQR: trArray:[0.044608064, 0.7221315, 0.018482598, 0.69006854, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05960101, 0.72997624, 0.025570016, 0.68038857, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059489448, 0.73161465, 0.017239703, 0.67889893, 0.0, 0.0, 0.0] E/LQR: trArray:[0.042272106, 0.73552877, 0.031580444, 0.6754356, 0.0, 0.0, 0.0] E/LQR: trArray:[0.056539483, 0.72199595, 0.031991605, 0.68884087, 0.0, 0.0, 0.0] E/LQR: trArray:[0.062302385, 0.7336902, 0.028968934, 0.6760015, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07067305, 0.7355686, 0.025863726, 0.6732573, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0657214, 0.7328583, 0.01746969, 0.6769743, 0.0, 0.0, 0.0] E/LQR: trArray:[0.043093994, 0.73145205, 0.021624405, 0.68018615, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05650957, 0.7409205, 0.018783122, 0.6689474, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06400651, 0.73252237, 0.025452197, 0.6772493, 0.0, 0.0, 0.0] E/LQR: trArray:[0.055830646, 0.72643626, 0.01976491, 0.6846771, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04333404, 0.7199995, 0.019210966, 0.69235396, 0.0, 0.0, 0.0] E/LQR: trArray:[0.061089925, 0.73131984, 0.02156009, 0.678951, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058343124, 0.7344663, 0.014878458, 0.67596895, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046012558, 0.7413966, 0.035331927, 0.668555, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05566281, 0.72910935, 0.022488145, 0.6817592, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04146241, 0.7274266, 0.014798318, 0.68477166, 0.0, 0.0, 0.0] E/LQR: trArray:[0.044991765, 0.72636324, 0.029068166, 0.6852206, 0.0, 0.0, 0.0] E/LQR: trArray:[0.053061206, 0.73395824, 0.03257074, 0.67633486, 0.0, 0.0, 0.0] E/LQR: trArray:[0.042735234, 0.72738814, 0.022460027, 0.6845261, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051259715, 0.7350154, 0.030703574, 0.67541265, 0.0, 0.0, 0.0] E/LQR: trArray:[0.047323737, 0.7327859, 0.01667969, 0.6786068, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07150776, 0.74229556, 0.0063314005, 0.66621625, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0463036, 0.74443173, 0.030789427, 0.6653792, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046372492, 0.7530237, 0.02700597, 0.6558015, 0.0, 0.0, 0.0] E/LQR: trArray:[0.070383795, 0.74008816, 0.031482708, 0.6680751, 0.0, 0.0, 0.0] E/LQR: trArray:[0.033016223, 0.7515126, 0.0045738514, 0.6588762, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03947897, 0.74934226, 0.026040666, 0.66049194, 0.0, 0.0, 0.0] E/LQR: trArray:[0.04655233, 0.7588832, 0.018415732, 0.6492997, 0.0, 0.0, 0.0] E/LQR: trArray:[0.05885727, 0.7582401, 0.02983498, 0.6486276, 0.0, 0.0, 0.0] E/LQR: trArray:[0.037227992, 0.75488204, 0.02179624, 0.65444034, 0.0, 0.0, 0.0] E/LQR: trArray:[0.045571104, 0.7639346, 0.011835706, 0.6435737, 0.0, 0.0, 0.0] E/LQR: trArray:[0.039395057, 0.7668648, 0.0085216975, 0.6405418, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050317045, 0.77948654, 0.011227267, 0.6242941, 0.0, 0.0, 0.0] E/LQR: trArray:[0.051851712, 0.7822022, 0.024558866, 0.6203773, 0.0, 0.0, 0.0] E/LQR: trArray:[0.032154858, 0.7718203, 0.019945027, 0.6347138, 0.0, 0.0, 0.0] E/LQR: trArray:[0.046097316, 0.77887475, 0.009137146, 0.6254165, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03426766, 0.7796127, 0.012504227, 0.6251988, 0.0, 0.0, 0.0] E/LQR: trArray:[0.028329507, 0.7815469, 0.020472856, 0.62286663, 0.0, 0.0, 0.0] E/LQR: trArray:[0.045079395, 0.7901918, 0.026756346, 0.61061347, 0.0, 0.0, 0.0] E/LQR: trArray:[0.030778429, 0.80972815, -0.016887069, 0.585754, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007821101, 0.7858989, 0.0033262002, 0.6182966, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03865764, 0.80644226, 0.008609578, 0.5899851, 0.0, 0.0, 0.0] E/LQR: trArray:[0.030082269, 0.7948026, 0.0020106074, 0.6061187, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0042751622, 0.7905631, 0.022581536, 0.6119493, 0.0, 0.0, 0.0] E/LQR: trArray:[0.060957316, 0.8094039, -0.0035390316, 0.5840693, 0.0, 0.0, 0.0] E/LQR: trArray:[0.020193454, 0.8081652, 1.6861444E-4, 0.58860964, 0.0, 0.0, 0.0] E/LQR: trArray:[0.033695675, 0.80428386, -0.0051459, 0.593267, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03141869, 0.8106326, -0.013149358, 0.58456385, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.006347798, 0.8132973, 0.0047081783, 0.5817948, 0.0, 0.0, 0.0] E/LQR: trArray:[0.029768001, 0.80743706, 0.00948295, 0.5891258, 0.0, 0.0, 0.0] E/LQR: trArray:[0.02311492, 0.8127304, 0.0021182, 0.58217734, 0.0, 0.0, 0.0] E/LQR: trArray:[0.030225638, 0.81516963, -0.009846672, 0.57834935, 0.0, 0.0, 0.0] E/LQR: trArray:[0.027736682, 0.8158129, -0.013655923, 0.57748914, 0.0, 0.0, 0.0] E/LQR: trArray:[0.006613437, 0.8105187, 0.003747262, 0.5856634, 0.0, 0.0, 0.0] E/LQR: trArray:[0.026915748, 0.80823904, -0.0027842596, 0.58823246, 0.0, 0.0, 0.0] E/LQR: trArray:[0.020451952, 0.8170287, 0.006395824, 0.5761988, 0.0, 0.0, 0.0] E/LQR: trArray:[0.022092242, 0.8129791, -7.67142E-4, 0.581873, 0.0, 0.0, 0.0] E/LQR: trArray:[0.024806371, 0.8162875, 0.012698397, 0.57697326, 0.0, 0.0, 0.0] E/LQR: trArray:[0.01757998, 0.81288016, -0.009948581, 0.5820807, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007211935, 0.81780493, 0.0051844413, 0.57542706, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013209921, 0.8158337, -0.010126003, 0.57804716, 0.0, 0.0, 0.0] E/LQR: trArray:[0.016417906, 0.8158967, 0.013997093, 0.5777951, 0.0, 0.0, 0.0] E/LQR: trArray:[0.02568304, 0.8212381, 0.0070044617, 0.56996435, 0.0, 0.0, 0.0] E/LQR: trArray:[0.023360232, 0.8243983, 0.004808336, 0.5655075, 0.0, 0.0, 0.0] E/LQR: trArray:[0.017777422, 0.81864905, 0.0044950093, 0.5740013, 0.0, 0.0, 0.0] E/LQR: trArray:[0.002137158, 0.82057124, -0.0014660804, 0.5715385, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0033316282, 0.8252659, -0.012932114, 0.56458646, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0059389425, 0.82549316, -0.0088164285, 0.5643122, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013515371, 0.8279217, -0.005935341, 0.56064945, 0.0, 0.0, 0.0] E/LQR: trArray:[0.005915727, 0.83058393, -0.0071459636, 0.55681634, 0.0, 0.0, 0.0] E/LQR: trArray:[0.012834831, 0.8262243, 0.004603073, 0.5631762, 0.0, 0.0, 0.0] E/LQR: trArray:[0.010713134, 0.8267655, -2.8326377E-4, 0.5624449, 0.0, 0.0, 0.0] E/LQR: trArray:[0.014781308, 0.83225495, -0.010129787, 0.5541034, 0.0, 0.0, 0.0] E/LQR: trArray:[0.005104851, 0.837711, -8.266422E-5, 0.54609007, 0.0, 0.0, 0.0] E/LQR: trArray:[0.018750794, 0.83494675, -0.017756993, 0.5497246, 0.0, 0.0, 0.0] E/LQR: trArray:[7.149131E-4, 0.840794, -0.014315791, 0.54116535, 0.0, 0.0, 0.0] E/LQR: trArray:[0.011413407, 0.8434181, -0.01243832, 0.5369926, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0133664785, 0.84754944, -0.022597393, 0.5300668, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007033148, 0.84230435, -0.01755844, 0.5386703, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0039113536, 0.84773767, -0.026914904, 0.52971804, 0.0, 0.0, 0.0] E/LQR: trArray:[0.018245239, 0.8505078, 0.0068048085, 0.5256019, 0.0, 0.0, 0.0] E/LQR: trArray:[2.0206354E-4, 0.85236347, -0.0031116384, 0.52294046, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.00706362, 0.85244095, -0.011433445, 0.5226508, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0067852368, 0.8517697, -0.01598776, 0.52362853, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007878449, 0.8566375, -0.013507754, 0.5156818, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0074580344, 0.85879487, -0.011498392, 0.5121362, 0.0, 0.0, 0.0] E/LQR: trArray:[0.01007959, 0.85266536, -0.02313523, 0.52184767, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013024569, 0.8572643, -0.024529725, 0.5141269, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0032259822, 0.85991365, -0.005033992, 0.51040435, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0014465973, 0.85931927, -0.0065319166, 0.5113956, 0.0, 0.0, 0.0] E/LQR: trArray:[0.008037332, 0.8637254, -1.1844173E-4, 0.50389856, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0113179, 0.85973936, -0.019612355, 0.51023084, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.008813298, 0.8628101, -0.018671326, 0.5051064, 0.0, 0.0, 0.0] E/LQR: trArray:[9.1893965E-4, 0.86899674, 0.0037168711, 0.49480313, 0.0, 0.0, 0.0] E/LQR: trArray:[0.009453024, 0.8648069, -0.0035286467, 0.5020032, 0.0, 0.0, 0.0] E/LQR: trArray:[0.018671356, 0.8651816, -0.011478222, 0.50097936, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00869051, 0.86948174, -0.0015716775, 0.49388608, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0102951825, 0.8613823, -7.9895527E-4, 0.5078524, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0020775795, 0.8639906, -0.00740929, 0.50344914, 0.0, 0.0, 0.0] E/LQR: trArray:[0.010719331, 0.86186975, 0.0056665232, 0.50698483, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0042340723, 0.8660241, -0.012813456, 0.49982035, 0.0, 0.0, 0.0] E/LQR: trArray:[0.016156018, 0.8639865, -0.0015470685, 0.50325334, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00925178, 0.8659914, 0.008043945, 0.49990866, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00899009, 0.86028606, -9.840353E-4, 0.5097315, 0.0, 0.0, 0.0] E/LQR: trArray:[-4.7567106E-4, 0.86154634, -0.008856207, 0.5076016, 0.0, 0.0, 0.0] E/LQR: trArray:[0.008406907, 0.86490667, -0.0016646759, 0.5018595, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0017319546, 0.8631401, -0.005555712, 0.50493103, 0.0, 0.0, 0.0] E/LQR: trArray:[7.174533E-5, 0.85430235, -0.009468139, 0.5196903, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0019466615, 0.86219877, -0.0052708085, 0.5065391, 0.0, 0.0, 0.0] E/LQR: trArray:[0.009657263, 0.8610011, -0.0024219975, 0.5085057, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007516388, 0.859488, -6.6144776E-4, 0.5111004, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0016399993, 0.86449426, 0.0053619295, 0.5026113, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0062113293, 0.8656735, -0.0034986811, 0.5005583, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00952822, 0.8581245, -0.0035720987, 0.51334107, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0152611, 0.8578686, -9.937508E-4, 0.5136413, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013235148, 0.8599332, 0.004559383, 0.51021475, 0.0, 0.0, 0.0] E/LQR: trArray:[6.9540016E-5, 0.8638751, -0.0020205602, 0.50370204, 0.0, 0.0, 0.0] E/LQR: trArray:[-1.1809177E-5, 0.86107016, 0.0038361773, 0.50847197, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.004942845, 0.8626695, 0.014114938, 0.5055471, 0.0, 0.0, 0.0] E/LQR: trArray:[0.011377562, 0.8582482, -0.0038928757, 0.513094, 0.0, 0.0, 0.0] E/LQR: trArray:[0.018591944, 0.8648949, 0.011542222, 0.50147563, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0051741265, 0.86002654, -0.010703713, 0.51011074, 0.0, 0.0, 0.0] E/LQR: trArray:[-6.2317424E-4, 0.85640085, -0.010377705, 0.51620686, 0.0, 0.0, 0.0] E/LQR: trArray:[0.007167399, 0.8637655, -0.003999129, 0.50382715, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.007821407, 0.862032, 0.02117454, 0.5063508, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013023782, 0.86171067, 7.187577E-4, 0.50723225, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.018355025, 0.8617668, -0.0039666076, 0.50695705, 0.0, 0.0, 0.0] E/LQR: trArray:[0.01365092, 0.8565973, 0.004048303, 0.5157891, 0.0, 0.0, 0.0] E/LQR: trArray:[0.005438276, 0.86391133, 0.010452324, 0.50350624, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0032907797, 0.85679674, 0.007810697, 0.51558465, 0.0, 0.0, 0.0] E/LQR: trArray:[0.008502804, 0.8563298, 0.005416721, 0.516331, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.002078824, 0.8594602, -0.008349448, 0.5111303, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00800924, 0.8589709, -0.0044777393, 0.51194227, 0.0, 0.0, 0.0] E/LQR: trArray:[0.017160354, 0.86561894, -2.127169E-5, 0.50040925, 0.0, 0.0, 0.0] E/LQR: trArray:[0.012469336, 0.85575825, 0.007075197, 0.5171773, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.02007157, 0.85565233, 0.01273808, 0.51700485, 0.0, 0.0, 0.0] E/LQR: trArray:[0.015512376, 0.8516216, -0.005346491, 0.52390015, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013226678, 0.8666017, 0.0053262855, 0.49879676, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0051935203, 0.86464727, 0.009465188, 0.5022634, 0.0, 0.0, 0.0] E/LQR: trArray:[0.003087409, 0.8601316, 7.763728E-4, 0.5100623, 0.0, 0.0, 0.0] E/LQR: trArray:[0.011082453, 0.85718215, 0.008124068, 0.5148301, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0044743377, 0.8538863, -0.0014794096, 0.5204383, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.013515009, 0.85898364, -0.009495803, 0.51173663, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0068545826, 0.8544205, 0.009238042, 0.51945496, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.008686538, 0.8515982, 0.0056620245, 0.5240926, 0.0, 0.0, 0.0] E/LQR: trArray:[0.010856789, 0.8570243, -0.009655885, 0.5150712, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.00718971, 0.85789126, 0.0017322004, 0.51377827, 0.0, 0.0, 0.0] E/LQR: trArray:[0.011463716, 0.8622687, -0.0034281313, 0.50630975, 0.0, 0.0, 0.0] E/LQR: trArray:[0.010899241, 0.85291266, 0.0031239833, 0.52193046, 0.0, 0.0, 0.0] E/LQR: trArray:[0.00350092, 0.85629964, 0.004315146, 0.5164497, 0.0, 0.0, 0.0] E/LQR: trArray:[-4.7963095E-4, 0.85847795, 0.0055057923, 0.5128209, 0.0, 0.0, 0.0] E/LQR: trArray:[0.009252552, 0.85789263, 0.0034024494, 0.5137344, 0.0, 0.0, 0.0] E/LQR: trArray:[0.031403728, 0.85833204, -0.024578137, 0.5115425, 0.0, 0.0, 0.0] E/LQR: trArray:[0.031866174, 0.85612243, 0.0036591368, 0.51577663, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0088746585, 0.84876, 0.007261991, 0.52865404, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03442525, 0.832711, 0.065765485, 0.5487097, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03270317, 0.8561899, 0.012032144, 0.51548487, 0.0, 0.0, 0.0] E/LQR: trArray:[0.03177364, 0.8585626, 0.026089106, 0.511058, 0.0, 0.0, 0.0] E/LQR: trArray:[0.013884434, 0.84358627, 0.024973493, 0.53623307, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06526798, 0.8471142, 0.009242848, 0.5273065, 0.0, 0.0, 0.0] E/LQR: trArray:[0.027067693, 0.82736796, 0.009462409, 0.56092775, 0.0, 0.0, 0.0] E/LQR: trArray:[0.044747293, 0.838764, 0.014076681, 0.5424707, 0.0, 0.0, 0.0] E/LQR: trArray:[0.037436448, 0.8288145, 0.025958553, 0.557666, 0.0, 0.0, 0.0] E/LQR: trArray:[0.059825804, 0.8302645, 0.019297978, 0.5538137, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050511785, 0.82001036, 0.01733875, 0.56985176, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0537113, 0.8253401, 0.017753841, 0.561795, 0.0, 0.0, 0.0] E/LQR: trArray:[0.15574235, 0.8321618, -0.10584401, 0.5215822, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.02409523, 0.82095253, 0.02273842, 0.5700345, 0.0, 0.0, 0.0] E/LQR: trArray:[0.06367441, 0.81650144, 0.022008453, 0.5733991, 0.0, 0.0, 0.0] E/LQR: trArray:[0.058644842, 0.82764256, 0.03380301, 0.55715895, 0.0, 0.0, 0.0] E/LQR: trArray:[0.19147739, 0.7249864, 0.21286891, 0.6264327, 0.0, 0.0, 0.0] E/LQR: trArray:[0.038311556, 0.8682221, -0.14049605, 0.47432402, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07399324, 0.7882919, -0.036819182, 0.60972565, 0.0, 0.0, 0.0] E/LQR: trArray:[0.035652727, 0.8046283, 0.13290253, 0.577615, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0637786, 0.7985761, -0.033089776, 0.59758985, 0.0, 0.0, 0.0] E/LQR: trArray:[0.048851125, 0.8053162, -0.029721005, 0.59008145, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.033730324, 0.7899686, -0.034946706, 0.61122054, 0.0, 0.0, 0.0] E/LQR: trArray:[0.18888858, 0.7775275, 0.12523761, 0.5865898, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0030660746, 0.8124228, 0.03980678, 0.5817003, 0.0, 0.0, 0.0] E/LQR: trArray:[0.02125624, 0.7897156, 0.019492317, 0.61279494, 0.0, 0.0, 0.0] E/LQR: trArray:[0.031565282, 0.7813634, 0.015824636, 0.62307656, 0.0, 0.0, 0.0] E/LQR: trArray:[0.039780132, 0.78525275, 0.014343984, 0.6177297, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.037396025, 0.78762454, -0.032226868, 0.61417466, 0.0, 0.0, 0.0] E/LQR: trArray:[0.034314163, 0.78993833, -0.009822816, 0.61214674, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0062726922, 0.775119, 0.010081976, 0.6317039, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.013490435, 0.7759089, 0.0012309254, 0.6306996, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.00258138, 0.77725947, -0.03269815, 0.62832475, 0.0, 0.0, 0.0] E/LQR: trArray:[0.022303084, 0.7638607, -0.051285587, 0.64295346, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.04834266, 0.7844257, -0.038582165, 0.61713105, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.035936695, 0.76713306, -0.003836937, 0.64046925, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.018077977, 0.72990465, 0.007950473, 0.6832637, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.07592428, 0.7520718, 0.05245518, 0.6525887, 0.0, 0.0, 0.0] E/LQR: trArray:[0.014720819, 0.72119325, 0.009262662, 0.6925157, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.049279302, 0.74361587, -0.020188307, 0.66648287, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0455893, 0.72935605, -0.018205687, 0.68237084, 0.0, 0.0, 0.0] E/LQR: trArray:[0.001874805, 0.7591389, 0.025867883, 0.6504117, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.036849193, 0.7106813, 0.026711054, 0.7020406, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.033154078, 0.72308135, 0.029198378, 0.6893488, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.04095198, 0.7343472, 0.02193587, 0.67718226, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.09774557, 0.73879963, 0.043768957, 0.665361, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.078466706, 0.72626644, 0.03917019, 0.68179595, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.049480196, 0.7654593, -0.021411348, 0.64122176, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.028632447, 0.7439392, 0.05546493, 0.66532564, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.0027238342, 0.74154747, 0.069920115, 0.66724145, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.053043514, 0.7351327, 0.111065805, 0.66665626, 0.0, 0.0, 0.0] E/LQR: trArray:[0.0034149874, 0.7344031, 0.060597878, 0.6759945, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.024428116, 0.7505666, 0.060587976, 0.65755767, 0.0, 0.0, 0.0] E/LQR: trArray:[0.020612907, 0.76246333, 0.07649697, 0.6421628, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.037466753, 0.74314, 0.09804566, 0.66085273, 0.0, 0.0, 0.0] E/LQR: trArray:[-0.011983017, 0.7464589, 0.08363165, 0.66004634, 0.0, 0.0, 0.0] E/LQR: trArray:[0.089645736, 0.7531264, 0.10705244, 0.64288723, 0.0, 0.0, 0.0] E/LQR: trArray:[0.050008394, 0.7716244, 0.057620414, 0.6314862, 0.0, 0.0, 0.0] E/LQR: trArray:[0.030221846, 0.77896476, 0.07786635, 0.62148005, 0.0, 0.0, 0.0] E/LQR: trArray:[0.08076885, 0.76551116, 0.12079177, 0.6268002, 0.0, 0.0, 0.0] E/LQR: trArray:[0.07941254, 0.7663193, 0.09242656, 0.63079774, 0.0, 0.0, 0.0] E/LQR: trArray:[0.1260876, 0.7649283, 0.07693487, 0.62695116, 0.0, 0.0, 0.0] E/LQR: trArray:[0.15741444, 0.77604765, 0.030305775, 0.6099608, 0.0, 0.0, 0.0] E/LQR: trArray:[0.16868074, 0.76798564, 0.03268615, 0.61699, 0.0, 0.0, 0.0] E/LQR: trArray:[0.14905865, 0.75684166, 0.08216744, 0.63104725, 0.0, 0.0, 0.0] E/LQR: trArray:[0.17290798, 0.7652132, 0.055669717, 0.6176185, 0.0, 0.0, 0.0] E/LQR: trArray:[0.20442998, 0.76786834, 0.013886925, 0.60695446, 0.0, 0.0, 0.0] E/LQR: trArray:[0.21369216, 0.76597136, 0.056759965, 0.603657, 0.0, 0.0, 0.0] E/LQR: trArray:[0.22079991, 0.7571379, 0.041853715, 0.6133823, 0.0, 0.0, 0.0] E/LQR: trArray:[0.23959586, 0.7326145, 0.0135506755, 0.6369351, 0.0, 0.0, 0.0] E/LQR: trArray:[0.26381955, 0.7267452, 0.0065994076, 0.6341901, 0.0, 0.0, 0.0] E/LQR: trArray:[0.2750746, 0.7245392, 0.024284163, 0.6314959, 0.0, 0.0, 0.0] E/LQR: trArray:[0.29722494, 0.70937747, 0.0057491655, 0.63906807, 0.0, 0.0, 0.0] E/LQR: trArray:[0.31648773, 0.6924879, -0.0051348256, 0.64828205, 0.0, 0.0, 0.0] E/LQR: trArray:[0.29773664, 0.69472003, -0.00972876, 0.65469253, 0.0, 0.0, 0.0] E/LQR: trArray:[0.3179077, 0.6630987, -0.027367648, 0.6771159, 0.0, 0.0, 0.0] E/LQR: trArray:[0.31430548, 0.675556, -0.02534377, 0.66647875, 0.0, 0.0, 0.0] E/LQR: trArray:[0.35637957, 0.65082246, -0.0288052, 0.6697717, 0.0, 0.0, 0.0] E/LQR: trArray:[0.33756116, 0.63555783, -0.0406759, 0.69315517, 0.0, 0.0, 0.0] E/LQR: trArray:[0.34575498, 0.63140845, -0.06467832, 0.6910816, 0.0, 0.0, 0.0] E/LQR: trArray:[0.3323268, 0.61771, -0.06350933, 0.7099011, 0.0, 0.0, 0.0] E/LQR: trArray:[0.37844363, 0.58444256, -0.058435243, 0.7153968, 0.0, 0.0, 0.0] E/LQR: trArray:[0.44318846, 0.574349, -0.047982402, 0.6865894, 0.0, 0.0, 0.0] E/LQR: trArray:[0.38802198, 0.5819755, -0.07768958, 0.7104279, 0.0, 0.0, 0.0] E/LQR: trArray:[0.35611126, 0.5691348, -0.08136485, 0.736648, 0.0, 0.0, 0.0] E/LQR: trArray:[0.38056564, 0.55906034, -0.08945608, 0.7311765, 0.0, 0.0, 0.0] E/LQR: trArray:[0.37980354, 0.565761, -0.10096752, 0.7248927, 0.0, 0.0, 0.0]