I was working through the example in https://python-control.readthedocs.io/en/latest/optimal.html and I found that I am not able to get the results to work. My resulting state just seems to keep drifting left from the target lane. Am I missing something here? Run on Linux Mint, Python 3, in Jupyter Lab.

Notebook is here: https://github.com/mhassell/control_issue/blob/main/example.ipynb

Code/images: https://github.com/mhassell/control_issue/

As a sanity check I also ran it as a script, not_jupyter.py, using python3. Same deal. Saved the png as from_script_not_jupyter.png