diff --git a/User/module/config.c b/User/module/config.c
index 90c8e3d..b023f45 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -348,18 +348,18 @@ Config_RobotParam_t robot_config = {
         },
 
 .lqr_gains = {
-    .k11_coeff = { -2.207343401461175e+02f, 2.556834548508151e+02f, -1.234911826220423e+02f, -4.363637275740159e+00f }, // theta
-    .k12_coeff = { -3.770331874039195e+00f, 4.741937570219265e+00f, -8.819635513801229e+00f, -4.038842223045839e-01f },  // d_theta
-    .k13_coeff = { -1.734094544170626e+01f, 1.978491180834041e+01f, -8.072812769263495e+00f, -1.340589378097037e+00f },  // x
-    .k14_coeff = { -1.472211724053756e+01f, 1.819479665184211e+01f, -8.589647618765262e+00f, -2.293363271026126e+00f },  // d_x
-    .k15_coeff = { -7.852280760746451e+01f, 1.298695612217853e+02f, -8.129414466725356e+01f, 2.292846364959872e+01f }, // phi
-    .k16_coeff = { -9.928427113080220e+00f, 1.357080611082777e+01f, -7.548018651928150e+00f, 2.271157830136482e+00f },  // d_phi
-    .k21_coeff = { 2.759964883186658e+02f, -2.086511949454606e+02f, 2.331823984594646e+01f, 2.000175147642214e+01f }, // theta
-    .k22_coeff = { 8.647051328755200e+00f, -3.808605265669558e+00f, -2.849484014325586e+00f, 2.885576178300258e+00f },  // d_theta
-    .k23_coeff = { -8.076374471738090e+00f, 2.409302487254470e+01f, -1.916050906481694e+01f, 5.795464166404872e+00f },  // x
-    .k24_coeff = { -4.239237551080097e+01f, 6.262543107118653e+01f, -3.577382630475294e+01f, 9.121364590201878e+00f },  // d_x
-    .k25_coeff = { 5.289371139851175e+02f, -5.748160815705720e+02f, 2.236549747702434e+02f, 1.625392607061903e+01f }, // phi
-    .k26_coeff = { 3.803765357892968e+01f, -4.291478873067381e+01f, 1.776277142102920e+01f, 7.733428194766802e-01f },  // d_phi
+    .k11_coeff = { -1.040735943750787e+02f, 1.695336079315308e+02f, -1.062722318533942e+02f, -2.036009410634798e+00f }, // theta
+    .k12_coeff = { 6.548762430498480e+00f, -1.562716155412672e+00f, -7.086308436992302e+00f, -6.164003859622520e-02f },  // d_theta
+    .k13_coeff = { -1.776351353814282e+00f, 8.427220270224590e+00f, -6.393133271442364e+00f, -3.713664477519095e-01f },  // x
+    .k14_coeff = { 1.359647364468941e+00f, 7.913856571908151e+00f, -7.833208725786592e+00f, -7.546329731077974e-01f },  // d_x
+    .k15_coeff = { 1.429505786398442e+02f, -7.876047039197037e+01f, -2.554303654551070e+01f, 2.212282866593371e+01f }, // phi
+    .k16_coeff = { -1.997399106727281e+00f, 5.001824399333104e+00f, -4.690069699025218e+00f, 2.037393422553355e+00f },  // d_phi
+    .k21_coeff = { 1.284394973362934e+03f, -1.125809129491189e+03f, 2.348843302245760e+02f, 3.746664923821130e+01f }, // theta
+    .k22_coeff = { 9.516046669246039e+01f, -8.559942886066267e+01f, 1.574391836522604e+01f, 6.170486282781792e+00f },  // d_theta
+    .k23_coeff = { 9.476707653135801e+01f, -6.059169561164515e+01f, -6.008849130724805e+00f, 9.727194772869312e+00f },  // x
+    .k24_coeff = { 5.978001968081441e+01f, -1.457082826094126e+01f, -3.168814217801549e+01f, 1.653069221109999e+01f },  // d_x
+    .k25_coeff = { 5.255568939661119e+02f, -9.182500565347966e+02f, 5.280210105496553e+02f, -2.568368526903880e+00f }, // phi
+    .k26_coeff = { 2.647280264629447e+01f, -4.880209725998817e+01f, 3.000044051909971e+01f, -1.227901680130401e+00f },  // d_phi
 },
 
 
diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m
index d46203b..03d19c3 100644
--- a/utils/Simulation-master/balance/series_legs/get_k_length.m
+++ b/utils/Simulation-master/balance/series_legs/get_k_length.m
@@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
     B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
     B=double(B);
     
-    Q=diag([4000  200  1000  500  50000 10]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
-    R=[150 0;0 25];                %T Tp
+    Q=diag([4000  200  500  50  50000 10]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
+    R=[150 0;0 5];                %T Tp
     
     K=lqr(A,B,Q,R);