diff --git a/motion/lqr_controller/lqr_controller/lqr_controller.py b/motion/lqr_controller/lqr_controller/lqr_controller.py
new file mode 100644
index 00000000..2451acc5
--- /dev/null
+++ b/motion/lqr_controller/lqr_controller/lqr_controller.py
@@ -0,0 +1,87 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from scipy.linalg import solve_continuous_are
+from asv_model import ASV
+
+def ssa(angle):
+    return (angle + np.pi) % (2 * np.pi) - np.pi
+
+def calculate_control_input(x, x_ref, K_LQR, K_r):
+    u = -K_LQR @ x + K_r @ x_ref
+    return u
+
+class LQRController:
+
+    def __init__(self, m, D, Q, R):
+        self.heading_ref = 50*np.pi/180 # magic init number!!!
+
+        self.M = np.diag([m, m, m])
+        self.M_inv = np.linalg.inv(self.M)
+        self.D = np.diag(D)
+
+        self.asv = ASV(self.M, self.D)
+        self.A, self.B = self.asv.linearize_model(self.heading_ref)
+        C = np.zeros((3,6))
+        C[:3, :3] = np.eye(3)
+
+        self.Q = np.diag(Q)
+        self.R = np.diag(R)
+        self.P = solve_continuous_are(self.A(), self.B(), self.Q, self.R)
+        self.K_LQR = np.dot(np.dot(np.linalg.inv(self.R), self.B.T), self.P)
+        self.K_r = np.linalg.inv(C@np.linalg.inv(self.B @ self.K_LQR - self.A) @ self.B)
+
+    def run_ivan_sim(self):
+        x_init = np.array([-10, -10, 40*np.pi/180, 0, 0, 0])
+        x_ref = np.array([0, 0, self.heading_ref])
+
+        T = 69.0        # Total simulation time
+        dt = 0.01       # Time step
+        num_steps = int(T / dt)  # Number of time steps
+
+        # Initialize arrays to store data
+        time = np.linspace(0, T, num_steps+1)
+        x_history = np.zeros((num_steps+1, self.A.shape[0]))
+        u_history = np.zeros((num_steps+1, self.B.shape[1]))
+        x_ref_history = np.zeros((num_steps+1, np.shape(x_ref)[0]))
+
+        # Simulation loop
+        x = x_init # Initial state
+        for i in range(num_steps+1):
+            #x_ref[i] = reference_function_const(i * dt)  # Update the reference at each time step
+            x_ref_history[i, :] = x_ref  # Update the reference at each time step
+            
+            u = calculate_control_input(x, x_ref, self.K_LQR, self.K_r)  # Calculate control input 'u' at each time step
+            x = self.asv.RK4_integration_step(x, u, dt)
+
+            x_history[i] = x  # Store state history
+            u_history[i] = u  # Store control input history
+
+        # Plot results
+        plt.figure(figsize=(12, 8))
+        plt.subplot(3, 1, 1)
+        for j in range(3):
+            plt.plot(time, x_history[:, j], label=f'State (x_{j+1})')
+            plt.plot(time, x_ref_history[:, j], linestyle='--', label=f'Reference (x_ref_{j+1})')
+        plt.xlabel('Time')
+        plt.ylabel('State Value')
+        plt.legend()
+
+        plt.subplot(3, 1, 2)
+        for j in range(B.shape[1]):
+            plt.plot(time, u_history[:, j], label=f'Control Input (u_{j+1})')
+        plt.xlabel('Time')
+        plt.ylabel('Control Input Value')
+        plt.legend()
+
+        plt.subplot(3, 1, 3)
+        plt.scatter(x_history[:,0], x_history[:,1], label=f'Position')
+        plt.xlabel('Time')
+        plt.ylabel('Control Input Value')
+        plt.legend()
+
+        plt.tight_layout()
+        plt.show()
+
+
+
+   
\ No newline at end of file
diff --git a/motion/lqr_controller/lqr_controller/lqr_controller_dp.py b/motion/lqr_controller/lqr_controller/lqr_controller_dp.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/motion/lqr_controller/lqr_controller/lqr_controller_node.py b/motion/lqr_controller/lqr_controller/lqr_controller_node.py
index 6e8f9135..0110110b 100644
--- a/motion/lqr_controller/lqr_controller/lqr_controller_node.py
+++ b/motion/lqr_controller/lqr_controller/lqr_controller_node.py
@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from lqr_controller import LQRController
 
 class LQRControllerNode(Node):
     def __init__(self):
@@ -25,6 +26,9 @@ def __init__(self):
         self.get_logger().info(f"Q: {Q}")
         self.get_logger().info(f"R: {R}")
 
+        lqr_controller = LQRController(m, D, Q, R)
+        lqr_controller.run_ivan_sim()
+
         self.get_logger().info("lqr_controller_node started")
 
 def main(args=None):