The steady state LQR torque computed at: https://github.com/mindThomas/Kugle-Embedded/blob/master/KugleFirmware/Libraries/Modules/Controllers/LQR/LQR.cpp#L194-L221 is computed differently than what was derived in the report and implemented in the MATLAB and Simulink script: https://github.com/mindThomas/Kugle-MATLAB/tree/master/Controllers/BalanceLQR
The steady state LQR torque computed at: https://github.com/mindThomas/Kugle-Embedded/blob/master/KugleFirmware/Libraries/Modules/Controllers/LQR/LQR.cpp#L194-L221
is computed differently than what was derived in the report and implemented in the MATLAB and Simulink script: https://github.com/mindThomas/Kugle-MATLAB/tree/master/Controllers/BalanceLQR