A = [0 1;2 0];
B = [0;1];
Q = [1 0;0 1];
R = 0.1;
[K,S,E]=lqr(A,B,Q,R)

syms k11 k12 k22
K=[k11 k12;k12 k22];

riccati = -K*A-A'*K+K*B*(1/R)*B'*K-Q
riccati = solve(riccati);

double(riccati.k11);
double(riccati.k12);
double(riccati.k22);