moving on a x/yplane, uses 2 actions a_1 and a_2. Experiences a aditional velocity in the x-direction, wind lineraly proportonial to its distance along the y-axis. x velocity is equal to a_1+b*y when y wind is equal to just a_2.
finite horizon LQR to solve. Let T=1000, dT = 0.025, b=1, Q_F = eye*100, Q=eye*1, and R=eye*1. look for optimal policy, produce pdf of two plots: LQR at x=1. y=0, and x=-1 y=0