function sse
syms u11 u12 u21 u22
U=[u11 u12
u21 u22];
U=U.';
N=10;
I6=eye(6);
I2=eye(2);
Q=1/2*I6;
R=I2;
P =[0 1.0000 0 0 0 0;
0 0 1.0000 0 0 0;
-24.0000 -24.0000 -3.0000 0 0 1.0000;
0 0 0 0 314.0000 0;
5.9500 0 0.9000 -0.1228 -0.0625 -0.1750;
0 0 0 0 0 -10.0000];
%Define the system varibles
Xt=zeros(6,N+1);
Xt=sym(Xt);
X1=[0.01 0.01 0.01 0.01 0.01 0.01]';
Y0=zeros(6,1);%expect value
Y0=sym(Y0);
Xt(:,1)=X1-Y0;
u11=0;
u12=0;
for i=1:N;
[T,X]=ode45(@(t,x)see(t,x,u1