@abstractmethod
def synth(self, Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger):
    '\n\n        '
    pass
@abstractmethod
def synth(self, Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger):
    '\n\n        '
    pass