diff --git a/Naman_LQR_Working.m b/Naman_LQR_Working.m
index e5c9e61..f3f6e5b 100644
--- a/Naman_LQR_Working.m
+++ b/Naman_LQR_Working.m
@@ -78,26 +78,26 @@ impulse(discrete, 0:T_s:1);
 %% Define goals
 %Goal 1: settle at 1m height <2s
 x_0_up = [0, 0, -1, ...
-       0, 0, 0, ...
-       0, 0, 0, ...
-       0, 0, 0]'; %Redefine origin! 
+          0, 0, 0, ...
+          0, 0, 0, ...
+          0, 0, 0]'; %Redefine origin! 
 
 %Goal 2: Stabilize from a 10-degree roll and pitch with <3deg overshoot
 x_0_pitch = [0, 0, 0, ...
-       0, 0, 0, ...
-       10, 0, 0, ...
-       0, 0, 0]'; %Pitch of 10 degrees
+             0, 0, 0, ...
+             10, 0, 0, ...
+             0, 0, 0]'; %Pitch of 10 degrees
 
 x_0_roll = [0, 0, 0, ...
-       0, 0, 0, ...
-       0, 10, 0, ...
-       0, 0, 0]'; %Roll of 10 degrees
+            0, 0, 0, ...
+            0, 10, 0, ...
+            0, 0, 0]'; %Roll of 10 degrees
    
 %Goal 3: Move from position (0,0,0) to within 5 cm of (1,1,1) within 5 seconds.
 x_0_trans = [-1, -1, -1, ...
-       0, 0, 0, ...
-       0, 0, 0, ...
-       0, 0, 0]'; %Redefine origin! 
+             0, 0, 0, ...
+             0, 0, 0, ...
+             0, 0, 0]'; %Redefine origin! 
    
 %Define Q and R for the cost function. Begin with nominal ones for all.
 Q = diag([1000, 1000, 1000, ... % x, y, z