def synth(self, Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger):
    return sls_synth(Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger)
def synth(self, Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger):
    return sls_synth(Q, R, Ahat, Bhat, eps_A, eps_B, truncation_length, gamma, alpha, logger)