diff --git a/configurations/lqr_config.json b/configurations/lqr_config.json
new file mode 100644
index 0000000..ae97ff2
--- /dev/null
+++ b/configurations/lqr_config.json
@@ -0,0 +1,25 @@
+{
+  "A": [
+    [1.0, 0.0  ],
+    [0.0, 0.992]
+  ],
+  
+  "B": [
+    [0.1, 0.0 ],
+    [0.0, 3.0 ]
+  ],
+  
+  "Q": [
+    [0.08, 0.0 ],
+    [0.0,  0.025]
+  ],
+  
+  "R": [
+    [1.0, 0.0],
+    [0.0, 2.0]
+  ],
+  
+  "errAlpha": 0.2,
+  "slowdown": 1.5,
+  "maxSlow": 0.5
+}