diff --git a/examples/__init__.py b/examples/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/README.md b/examples/rocket_drone_lqr/README.md
new file mode 100644
index 0000000..205d4e9
--- /dev/null
+++ b/examples/rocket_drone_lqr/README.md
@@ -0,0 +1,214 @@
+# Rocket Drone LQR
+
+Реализация GitHub Issue #34:
+
+**[control] 2d rocket dron**
+
+Дисциплина: **Программирование роботов (ИТМО)**
+
+Алгоритм управления: **LQR (Linear Quadratic Regulator)**
+
+Протокол обмена: **ZeroMQ**
+
+# Цель проекта
+
+Разработать систему управления двухмерной ракетой, способной отслеживать заданную траекторию в плоскости X–Z.
+
+Управление осуществляется через реальные силы двигателей:
+
+- **F1** — основной двигатель
+- **F2** — левый боковой двигатель
+- **F3** — правый боковой двигатель
+
+Ракета компенсирует действие силы тяжести и следует заданной траектории.
+
+# Математическая модель
+
+### Состояние ракеты
+
+```text
+x       положение по оси X
+z       положение по оси Z
+
+theta   угол корпуса
+
+vx      скорость по X
+vz      скорость по Z
+
+omega   угловая скорость
+```
+
+### Управление
+
+```text
+F1  основная тяга
+F2  левый боковой двигатель
+F3  правый боковой двигатель
+```
+
+В динамическую модель передаются реальные силы двигателей.
+
+# Архитектура системы
+
+```text
+Trajectory Generator
+        │
+        ▼
+   LQR Controller
+        │
+        ▼
+ Control Allocation
+        │
+        ▼
+     F1  F2  F3
+        │
+        ▼
+ Rocket Dynamics
+        │
+        ▼
+      State
+        │
+        ▼
+      ZeroMQ
+        │
+        ▼
+   LQR Controller
+```
+
+# Структура проекта
+
+```text
+rocket_drone_lqr/
+│
+├── communication/
+│   ├── messages.py
+│   └── zmq_protocol.py
+│
+├── control/
+│   └── lqr_controller.py
+│
+├── sim/
+│   ├── dynamics.py
+│   ├── limits.py
+│   └── trajectory.py
+│
+├── tests/
+│   ├── test_dynamics.py
+│   ├── test_lqr_controller.py
+│   ├── test_messages.py
+│   └── test_zmq_protocol.py
+│
+├── demo_closed_loop.py
+├── run_controller.py
+└── run_simulator.py
+```
+
+# Локальный запуск
+
+Запуск симуляции без разделения процессов:
+
+```bash
+python -m examples.rocket_drone_lqr.demo_closed_loop
+```
+
+# Запуск через ZeroMQ
+
+Окно №1:
+
+```bash
+python -m examples.rocket_drone_lqr.run_controller
+```
+
+Окно №2:
+
+```bash
+python -m examples.rocket_drone_lqr.run_simulator
+```
+
+Контроллер и симулятор работают как независимые процессы и обмениваются сообщениями через ZeroMQ.
+
+# Траектория
+
+Используется траектория типа **«восьмёрка» (Figure Eight)**.
+
+Контроллер отслеживает:
+
+```text
+x_ref
+z_ref
+vx_ref
+vz_ref
+```
+
+# Тестирование
+
+Запуск тестов:
+
+```bash
+uv run pytest examples/rocket_drone_lqr/tests
+```
+
+Результат:
+
+```text
+6 passed
+```
+
+Покрыты проверки:
+
+- сериализации сообщений;
+- динамической модели ракеты;
+- LQR-контроллера;
+- ZeroMQ-протокола.
+
+# Реализованные возможности
+
+- физическая модель ракеты;
+- учёт силы тяжести;
+- генератор траектории «восьмёрка»;
+- LQR-регулятор;
+- преобразование управляющих воздействий в силы **F1**, **F2**, **F3**;
+- обмен сообщениями через ZeroMQ;
+- запуск контроллера отдельным процессом;
+- запуск симулятора отдельным процессом;
+- визуализация движения;
+- автоматические тесты.
+
+# Алгоритм управления
+
+В проекте используется **Linear Quadratic Regulator (LQR)**.
+
+PID- и PD-регуляторы не используются, так как условия Issue #34 требуют применения более продвинутого алгоритма управления.
+
+LQR вычисляет оптимальные управляющие воздействия на основе:
+
+- текущего состояния ракеты;
+- требуемого состояния на траектории.
+
+После этого управляющие воздействия преобразуются в реальные силы двигателей **F1**, **F2** и **F3**.
+
+# Протокол обмена
+
+Используется схема **ZeroMQ REQ/REP**.
+
+Формат сообщений:
+
+```text
+ControlRequest
+    time
+    state
+    reference
+
+ControlResponse
+    F1
+    F2
+    F3
+```
+
+# Статус проекта
+
+- **GitHub Issue:** #34
+- **Алгоритм управления:** LQR
+- **Протокол обмена:** ZeroMQ
+- **Автоматические тесты:** пройдены (6 passed)
+- **Статус:** реализовано
diff --git a/examples/rocket_drone_lqr/communication/__init__.py b/examples/rocket_drone_lqr/communication/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/communication/messages.py b/examples/rocket_drone_lqr/communication/messages.py
new file mode 100644
index 0000000..36b907d
--- /dev/null
+++ b/examples/rocket_drone_lqr/communication/messages.py
@@ -0,0 +1,41 @@
+from dataclasses import asdict, dataclass
+from typing import Any
+
+from examples.rocket_drone_lqr.sim.dynamics import RocketForces, RocketState
+from examples.rocket_drone_lqr.sim.trajectory import TrajectoryPoint
+
+
+@dataclass(frozen=True)
+class ControlRequest:
+    time: float
+    state: RocketState
+    reference: TrajectoryPoint
+
+    def to_dict(self) -> dict[str, Any]:
+        return {
+            "time": self.time,
+            "state": asdict(self.state),
+            "reference": asdict(self.reference),
+        }
+
+    @staticmethod
+    def from_dict(data: dict[str, Any]) -> "ControlRequest":
+        return ControlRequest(
+            time=float(data["time"]),
+            state=RocketState(**data["state"]),
+            reference=TrajectoryPoint(**data["reference"]),
+        )
+
+
+@dataclass(frozen=True)
+class ControlResponse:
+    forces: RocketForces
+
+    def to_dict(self) -> dict[str, Any]:
+        return {"forces": asdict(self.forces)}
+
+    @staticmethod
+    def from_dict(data: dict[str, Any]) -> "ControlResponse":
+        return ControlResponse(
+            forces=RocketForces(**data["forces"]),
+        )
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/communication/zmq_protocol.py b/examples/rocket_drone_lqr/communication/zmq_protocol.py
new file mode 100644
index 0000000..5acc1a9
--- /dev/null
+++ b/examples/rocket_drone_lqr/communication/zmq_protocol.py
@@ -0,0 +1,32 @@
+import json
+from typing import Any
+
+import zmq
+
+DEFAULT_ENDPOINT = "tcp://127.0.0.1:5557"
+
+
+class ZmqServer:
+    def __init__(self, endpoint: str = DEFAULT_ENDPOINT):
+        self.context = zmq.Context.instance()
+        self.socket = self.context.socket(zmq.REP)
+        self.socket.bind(endpoint)
+
+    def receive(self) -> dict[str, Any]:
+        raw = self.socket.recv_string()
+        return json.loads(raw)
+
+    def send(self, message: dict[str, Any]) -> None:
+        self.socket.send_string(json.dumps(message))
+
+
+class ZmqClient:
+    def __init__(self, endpoint: str = DEFAULT_ENDPOINT):
+        self.context = zmq.Context.instance()
+        self.socket = self.context.socket(zmq.REQ)
+        self.socket.connect(endpoint)
+
+    def request(self, message: dict[str, Any]) -> dict[str, Any]:
+        self.socket.send_string(json.dumps(message))
+        raw = self.socket.recv_string()
+        return json.loads(raw)
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/control/__init__.py b/examples/rocket_drone_lqr/control/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/control/limits.py b/examples/rocket_drone_lqr/control/limits.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/control/lqr_controller.py b/examples/rocket_drone_lqr/control/lqr_controller.py
new file mode 100644
index 0000000..0d60d12
--- /dev/null
+++ b/examples/rocket_drone_lqr/control/lqr_controller.py
@@ -0,0 +1,74 @@
+import numpy as np
+from scipy.linalg import solve_continuous_are
+
+from examples.rocket_drone_lqr.sim.dynamics import RocketForces, RocketState
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+from examples.rocket_drone_lqr.sim.trajectory import TrajectoryPoint
+
+
+class LQRController:
+    def __init__(self, limits: RocketLimits | None = None):
+        self.limits = limits or RocketLimits()
+
+        self.k_x = self._lqr(3.0, 2.0, 5.0)
+        self.k_z = self._lqr(10.0, 7.0, 2.0)
+
+        self.max_side_force = 0.55
+        self.max_tilt = 0.28
+        self.tilt_kp = 3.0
+        self.tilt_kd = 1.2
+
+    def _lqr(self, q_pos: float, q_vel: float, r_val: float) -> np.ndarray:
+        a = np.array([[0.0, 1.0], [0.0, 0.0]], dtype=float)
+        b = np.array([[0.0], [1.0]], dtype=float)
+        q = np.diag([q_pos, q_vel])
+        r = np.array([[r_val]], dtype=float)
+        p = solve_continuous_are(a, b, q, r)
+        return np.linalg.inv(r) @ b.T @ p
+
+    def control(self, state: RocketState, reference: TrajectoryPoint) -> RocketForces:
+        x_error = np.array(
+            [state.x - reference.x, state.vx - reference.vx],
+            dtype=float,
+        )
+        z_error = np.array(
+            [state.z - reference.z, state.vz - reference.vz],
+            dtype=float,
+        )
+
+        ax_cmd = float(reference.ax - (self.k_x @ x_error)[0])
+        az_cmd = float(reference.az - (self.k_z @ z_error)[0])
+
+        ax_cmd = float(np.clip(ax_cmd, -1.4, 1.4))
+        az_cmd = float(np.clip(az_cmd, -2.0, 2.0))
+
+        f1 = self.limits.mass * (self.limits.gravity + az_cmd)
+        f1 = float(np.clip(f1, self.limits.f1_min, self.limits.f1_max))
+
+        side_cmd = 0.7 * reference.vx + 0.25 * (reference.x - state.x)
+
+        if state.theta > self.max_tilt:
+            side_cmd -= self.tilt_kp * (state.theta - self.max_tilt)
+
+        if state.theta < -self.max_tilt:
+            side_cmd -= self.tilt_kp * (state.theta + self.max_tilt)
+
+        side_cmd -= self.tilt_kd * state.omega
+
+        side_cmd = float(np.clip(
+            side_cmd,
+            -self.max_side_force,
+            self.max_side_force,
+        ))
+        if abs(state.theta) > 0.45:
+            side_cmd = 0.0
+
+        # F2 — вправо, F3 — влево.
+        if side_cmd > 0.0:
+            f2 = side_cmd
+            f3 = 0.0
+        else:
+            f2 = 0.0
+            f3 = -side_cmd
+
+        return RocketForces(f1=f1, f2=f2, f3=f3).clipped(self.limits)
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/control/trajectory.py b/examples/rocket_drone_lqr/control/trajectory.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/demo_closed_loop.py b/examples/rocket_drone_lqr/demo_closed_loop.py
new file mode 100644
index 0000000..4ebf7a7
--- /dev/null
+++ b/examples/rocket_drone_lqr/demo_closed_loop.py
@@ -0,0 +1,141 @@
+import math
+
+import matplotlib.animation as animation
+import matplotlib.pyplot as plt
+
+from examples.rocket_drone_lqr.control.lqr_controller import LQRController
+from examples.rocket_drone_lqr.sim.dynamics import RocketDynamics, RocketState
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+from examples.rocket_drone_lqr.sim.trajectory import FigureEightTrajectory
+
+
+def rocket_shape(x: float, z: float, theta: float) -> tuple[list[float], list[float]]:
+    body = [
+        (0.0, 0.45),
+        (-0.18, -0.25),
+        (0.18, -0.25),
+        (0.0, 0.45),
+    ]
+
+    xs = []
+    zs = []
+
+    for bx, bz in body:
+        rx = bx * math.cos(theta) - bz * math.sin(theta)
+        rz = bx * math.sin(theta) + bz * math.cos(theta)
+        xs.append(x + rx)
+        zs.append(z + rz)
+
+    return xs, zs
+
+
+def main() -> None:
+    limits = RocketLimits()
+    dynamics = RocketDynamics(limits)
+    controller = LQRController(limits)
+    trajectory = FigureEightTrajectory()
+
+    start_reference = trajectory.get(0.0)
+
+    state = RocketState(
+        x=start_reference.x,
+        z=start_reference.z,
+        theta=0.0,
+        vx=start_reference.vx,
+        vz=start_reference.vz,
+        omega=0.0,
+    )
+    simulation_time = 70.0
+    steps = int(simulation_time / limits.dt)
+
+    ref_x = []
+    ref_z = []
+    real_x = []
+    real_z = []
+    states = []
+    forces_log = []
+
+    for step in range(steps):
+        t = step * limits.dt
+        reference = trajectory.get(t)
+        forces = controller.control(state, reference)
+        state = dynamics.step(state, forces)
+
+        ref_x.append(reference.x)
+        ref_z.append(reference.z)
+        real_x.append(state.x)
+        real_z.append(state.z)
+        states.append(state)
+        forces_log.append(forces)
+
+    fig, ax = plt.subplots(figsize=(10, 7))
+
+    ax.set_title("2D Rocket Drone LQR trajectory tracking")
+    ax.set_xlabel("x")
+    ax.set_ylabel("z")
+    ax.set_xlim(limits.x_min, limits.x_max)
+    ax.set_ylim(limits.z_min, limits.z_max)
+    ax.grid(True)
+    ax.set_aspect("equal", adjustable="box")
+
+    ax.plot(ref_x, ref_z, "--", label="reference trajectory")
+    real_line, = ax.plot([], [], label="rocket trajectory")
+    rocket_line, = ax.plot([], [], linewidth=2, label="rocket body")
+    thrust_line, = ax.plot([], [], linewidth=2, label="main thrust")
+    text = ax.text(0.02, 0.95, "", transform=ax.transAxes)
+
+    ax.legend(loc="upper right")
+
+    frame_stride = 5
+    frame_count = len(states) // frame_stride
+
+    def update(frame: int):
+        index = frame * frame_stride
+        current_state = states[index]
+        current_forces = forces_log[index]
+        current_time = index * limits.dt
+
+        real_line.set_data(real_x[:index], real_z[:index])
+
+        xs, zs = rocket_shape(
+            current_state.x,
+            current_state.z,
+            current_state.theta,
+        )
+        rocket_line.set_data(xs, zs)
+
+        thrust_scale = 0.035 * current_forces.f1
+        thrust_x = [
+            current_state.x,
+            current_state.x + thrust_scale * math.sin(current_state.theta),
+        ]
+        thrust_z = [
+            current_state.z - 0.3,
+            current_state.z - 0.3 - thrust_scale * math.cos(current_state.theta),
+        ]
+        thrust_line.set_data(thrust_x, thrust_z)
+
+        text.set_text(
+            f"t = {current_time:.1f} s\n"
+            f"x = {current_state.x:.2f}, z = {current_state.z:.2f}\n"
+            f"theta = {current_state.theta:.2f} rad\n"
+            f"F1 = {current_forces.f1:.2f}, "
+            f"F2 = {current_forces.f2:.2f}, "
+            f"F3 = {current_forces.f3:.2f}"
+        )
+
+        return real_line, rocket_line, thrust_line, text
+
+    ani = animation.FuncAnimation(
+        fig,
+        update,
+        frames=frame_count,
+        interval=20,
+        blit=True,
+    )
+
+    plt.show()
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/run_controller.py b/examples/rocket_drone_lqr/run_controller.py
new file mode 100644
index 0000000..78d7ddb
--- /dev/null
+++ b/examples/rocket_drone_lqr/run_controller.py
@@ -0,0 +1,33 @@
+from examples.rocket_drone_lqr.communication.messages import (
+    ControlRequest,
+    ControlResponse,
+)
+from examples.rocket_drone_lqr.communication.zmq_protocol import ZmqServer
+from examples.rocket_drone_lqr.control.lqr_controller import LQRController
+
+
+def main() -> None:
+    controller = LQRController()
+    server = ZmqServer()
+
+    print("Rocket controller started")
+
+    while True:
+        message = server.receive()
+
+        request = ControlRequest.from_dict(message)
+
+        forces = controller.control(
+            request.state,
+            request.reference,
+        )
+
+        response = ControlResponse(
+            forces=forces,
+        )
+
+        server.send(response.to_dict())
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/run_simulator.py b/examples/rocket_drone_lqr/run_simulator.py
new file mode 100644
index 0000000..f3aef84
--- /dev/null
+++ b/examples/rocket_drone_lqr/run_simulator.py
@@ -0,0 +1,147 @@
+import math
+
+import matplotlib.animation as animation
+import matplotlib.pyplot as plt
+
+from examples.rocket_drone_lqr.communication.messages import (
+    ControlRequest,
+    ControlResponse,
+)
+from examples.rocket_drone_lqr.communication.zmq_protocol import ZmqClient
+from examples.rocket_drone_lqr.sim.dynamics import RocketDynamics, RocketState
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+from examples.rocket_drone_lqr.sim.trajectory import FigureEightTrajectory
+
+
+def rocket_shape(x: float, z: float, theta: float) -> tuple[list[float], list[float]]:
+    body = [(0.0, 0.45), (-0.18, -0.25), (0.18, -0.25), (0.0, 0.45)]
+    xs, zs = [], []
+
+    for bx, bz in body:
+        rx = bx * math.cos(theta) - bz * math.sin(theta)
+        rz = bx * math.sin(theta) + bz * math.cos(theta)
+        xs.append(x + rx)
+        zs.append(z + rz)
+
+    return xs, zs
+
+
+def main() -> None:
+    limits = RocketLimits()
+    dynamics = RocketDynamics(limits)
+    trajectory = FigureEightTrajectory()
+    client = ZmqClient()
+
+    start_reference = trajectory.get(0.0)
+
+    state = RocketState(
+        x=start_reference.x,
+        z=start_reference.z,
+        theta=0.0,
+        vx=start_reference.vx,
+        vz=start_reference.vz,
+        omega=0.0,
+    )
+
+    simulation_time = 70.0
+    steps = int(simulation_time / limits.dt)
+
+    ref_x, ref_z = [], []
+    real_x, real_z = [], []
+    states = []
+    forces_log = []
+
+    for step in range(steps):
+        t = step * limits.dt
+        reference = trajectory.get(t)
+
+        request = ControlRequest(
+            time=t,
+            state=state,
+            reference=reference,
+        )
+
+        response_data = client.request(request.to_dict())
+        response = ControlResponse.from_dict(response_data)
+
+        forces = response.forces
+        state = dynamics.step(state, forces)
+
+        ref_x.append(reference.x)
+        ref_z.append(reference.z)
+        real_x.append(state.x)
+        real_z.append(state.z)
+        states.append(state)
+        forces_log.append(forces)
+
+    fig, ax = plt.subplots(figsize=(10, 7))
+
+    ax.set_title("2D Rocket Drone LQR trajectory tracking via ZeroMQ")
+    ax.set_xlabel("x")
+    ax.set_ylabel("z")
+    ax.set_xlim(limits.x_min, limits.x_max)
+    ax.set_ylim(limits.z_min, limits.z_max)
+    ax.grid(True)
+    ax.set_aspect("equal", adjustable="box")
+
+    ax.plot(ref_x, ref_z, "--", label="reference trajectory")
+    real_line, = ax.plot([], [], label="rocket trajectory")
+    rocket_line, = ax.plot([], [], linewidth=2, label="rocket body")
+    thrust_line, = ax.plot([], [], linewidth=2, label="main thrust")
+    text = ax.text(0.02, 0.95, "", transform=ax.transAxes)
+
+    ax.legend(loc="upper right")
+
+    frame_stride = 5
+    frame_count = len(states) // frame_stride
+
+    def update(frame: int):
+        index = frame * frame_stride
+        current_state = states[index]
+        current_forces = forces_log[index]
+        current_time = index * limits.dt
+
+        real_line.set_data(real_x[:index], real_z[:index])
+
+        xs, zs = rocket_shape(
+            current_state.x,
+            current_state.z,
+            current_state.theta,
+        )
+        rocket_line.set_data(xs, zs)
+
+        thrust_scale = 0.035 * current_forces.f1
+        thrust_x = [
+            current_state.x,
+            current_state.x + thrust_scale * math.sin(current_state.theta),
+        ]
+        thrust_z = [
+            current_state.z - 0.3,
+            current_state.z - 0.3 - thrust_scale * math.cos(current_state.theta),
+        ]
+        thrust_line.set_data(thrust_x, thrust_z)
+
+        text.set_text(
+            f"t = {current_time:.1f} s\n"
+            f"x = {current_state.x:.2f}, z = {current_state.z:.2f}\n"
+            f"theta = {current_state.theta:.2f} rad\n"
+            f"F1 = {current_forces.f1:.2f}, "
+            f"F2 = {current_forces.f2:.2f}, "
+            f"F3 = {current_forces.f3:.2f}"
+        )
+
+        return real_line, rocket_line, thrust_line, text
+
+    ani = animation.FuncAnimation(
+        fig,
+        update,
+        frames=frame_count,
+        interval=20,
+        blit=True,
+    )
+
+    plt.show()
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/sim/__init__.py b/examples/rocket_drone_lqr/sim/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/sim/dynamics.py b/examples/rocket_drone_lqr/sim/dynamics.py
new file mode 100644
index 0000000..9e35430
--- /dev/null
+++ b/examples/rocket_drone_lqr/sim/dynamics.py
@@ -0,0 +1,114 @@
+import math
+from dataclasses import dataclass
+
+import numpy as np
+
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+
+
+@dataclass
+class RocketState:
+    x: float
+    z: float
+    theta: float
+    vx: float
+    vz: float
+    omega: float
+
+    def as_vector(self) -> np.ndarray:
+        return np.array(
+            [self.x, self.z, self.theta, self.vx, self.vz, self.omega],
+            dtype=float,
+        )
+
+    @staticmethod
+    def from_vector(vector: np.ndarray) -> "RocketState":
+        return RocketState(
+            x=float(vector[0]),
+            z=float(vector[1]),
+            theta=float(vector[2]),
+            vx=float(vector[3]),
+            vz=float(vector[4]),
+            omega=float(vector[5]),
+        )
+
+
+@dataclass
+class RocketForces:
+    f1: float
+    f2: float
+    f3: float
+
+    def clipped(self, limits: RocketLimits) -> "RocketForces":
+        return RocketForces(
+            f1=float(np.clip(self.f1, limits.f1_min, limits.f1_max)),
+            f2=float(np.clip(self.f2, limits.f2_min, limits.f2_max)),
+            f3=float(np.clip(self.f3, limits.f3_min, limits.f3_max)),
+        )
+
+
+class RocketDynamics:
+    def __init__(self, limits: RocketLimits | None = None):
+        self.limits = limits or RocketLimits()
+        self.angular_damping = 0.7
+        self.side_torque_gain = 0.01
+
+    def derivatives(self, state: RocketState, forces: RocketForces) -> np.ndarray:
+        limits = self.limits
+        forces = forces.clipped(limits)
+
+        sin_theta = math.sin(state.theta)
+        cos_theta = math.cos(state.theta)
+
+        nose_x = -sin_theta
+        nose_z = cos_theta
+
+        side_x = cos_theta
+        side_z = sin_theta
+
+        main_force = forces.f1
+
+        # F2 толкает влево, F3 толкает вправо.
+        side_force = forces.f2 - forces.f3
+
+        torque = (
+            self.side_torque_gain * limits.body_half_width * side_force
+            - self.angular_damping * state.omega
+        )
+
+        fx = main_force * nose_x + side_force * side_x
+        fz = main_force * nose_z + side_force * side_z
+
+        ax = fx / limits.mass
+        az = fz / limits.mass - limits.gravity
+        alpha = torque / limits.inertia
+
+        return np.array(
+            [
+                state.vx,
+                state.vz,
+                state.omega,
+                ax,
+                az,
+                alpha,
+            ],
+            dtype=float,
+        )
+
+    def step(self, state: RocketState, forces: RocketForces) -> RocketState:
+        dt = self.limits.dt
+
+        y = state.as_vector()
+        k1 = self.derivatives(RocketState.from_vector(y), forces)
+        k2 = self.derivatives(RocketState.from_vector(y + 0.5 * dt * k1), forces)
+        k3 = self.derivatives(RocketState.from_vector(y + 0.5 * dt * k2), forces)
+        k4 = self.derivatives(RocketState.from_vector(y + dt * k3), forces)
+
+        new_y = y + (dt / 6.0) * (k1 + 2 * k2 + 2 * k3 + k4)
+
+        new_y[0] = np.clip(new_y[0], self.limits.x_min, self.limits.x_max)
+        new_y[1] = np.clip(new_y[1], self.limits.z_min, self.limits.z_max)
+        new_y[2] = (new_y[2] + math.pi) % (2.0 * math.pi) - math.pi
+        new_y[5] = np.clip(new_y[5], -self.limits.omega_max, self.limits.omega_max)
+
+        return RocketState.from_vector(new_y)
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/sim/limits.py b/examples/rocket_drone_lqr/sim/limits.py
new file mode 100644
index 0000000..55d0fcd
--- /dev/null
+++ b/examples/rocket_drone_lqr/sim/limits.py
@@ -0,0 +1,28 @@
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class RocketLimits:
+    dt: float = 0.02
+
+    mass: float = 1.0
+    inertia: float = 0.08
+    gravity: float = 9.81
+
+    body_half_width: float = 0.25
+
+    f1_min: float = 0.0
+    f1_max: float = 18.0
+
+    f2_min: float = 0.0
+    f2_max: float = 10.0
+
+    f3_min: float = 0.0
+    f3_max: float = 10.0
+
+    x_min: float = -8.0
+    x_max: float = 8.0
+    z_min: float = 0.0
+    z_max: float = 8.0
+
+    omega_max: float = 12.0
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/sim/trajectory.py b/examples/rocket_drone_lqr/sim/trajectory.py
new file mode 100644
index 0000000..91b8cf2
--- /dev/null
+++ b/examples/rocket_drone_lqr/sim/trajectory.py
@@ -0,0 +1,45 @@
+import math
+from dataclasses import dataclass
+
+
+@dataclass
+class TrajectoryPoint:
+    x: float
+    z: float
+    vx: float
+    vz: float
+    ax: float
+    az: float
+    theta: float
+
+
+class FigureEightTrajectory:
+    def __init__(
+        self,
+        center_x: float = 0.0,
+        center_z: float = 4.0,
+        amplitude_x: float = 3.0,
+        amplitude_z: float = 1.4,
+        period: float = 70.0,
+    ):
+        self.center_x = center_x
+        self.center_z = center_z
+        self.amplitude_x = amplitude_x
+        self.amplitude_z = amplitude_z
+        self.omega = 2.0 * math.pi / period
+
+    def get(self, t: float) -> TrajectoryPoint:
+        s = self.omega * t
+
+        x = self.center_x + self.amplitude_x * math.sin(s)
+        z = self.center_z + self.amplitude_z * math.sin(2.0 * s)
+
+        vx = self.amplitude_x * self.omega * math.cos(s)
+        vz = 2.0 * self.amplitude_z * self.omega * math.cos(2.0 * s)
+
+        ax = -self.amplitude_x * self.omega**2 * math.sin(s)
+        az = -4.0 * self.amplitude_z * self.omega**2 * math.sin(2.0 * s)
+
+        theta = 0.0
+
+        return TrajectoryPoint(x=x, z=z, vx=vx, vz=vz, ax=ax, az=az, theta=theta)
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/tests/__init__.py b/examples/rocket_drone_lqr/tests/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/examples/rocket_drone_lqr/tests/conftest.py b/examples/rocket_drone_lqr/tests/conftest.py
new file mode 100644
index 0000000..b9ef53c
--- /dev/null
+++ b/examples/rocket_drone_lqr/tests/conftest.py
@@ -0,0 +1,8 @@
+import sys
+from pathlib import Path
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[3]
+
+if str(PROJECT_ROOT) not in sys.path:
+    sys.path.insert(0, str(PROJECT_ROOT))
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/tests/test_dynamics.py b/examples/rocket_drone_lqr/tests/test_dynamics.py
new file mode 100644
index 0000000..3838638
--- /dev/null
+++ b/examples/rocket_drone_lqr/tests/test_dynamics.py
@@ -0,0 +1,31 @@
+from examples.rocket_drone_lqr.sim.dynamics import (
+    RocketDynamics,
+    RocketForces,
+    RocketState,
+)
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+
+
+def test_rocket_hover_with_gravity_compensation():
+    limits = RocketLimits()
+    dynamics = RocketDynamics(limits)
+
+    state = RocketState(
+        x=0.0,
+        z=4.0,
+        theta=0.0,
+        vx=0.0,
+        vz=0.0,
+        omega=0.0,
+    )
+
+    forces = RocketForces(
+        f1=limits.mass * limits.gravity,
+        f2=0.0,
+        f3=0.0,
+    )
+
+    next_state = dynamics.step(state, forces)
+
+    assert abs(next_state.z - state.z) < 1e-3
+    assert abs(next_state.vz) < 1e-3
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/tests/test_lqr_controller.py b/examples/rocket_drone_lqr/tests/test_lqr_controller.py
new file mode 100644
index 0000000..961b794
--- /dev/null
+++ b/examples/rocket_drone_lqr/tests/test_lqr_controller.py
@@ -0,0 +1,62 @@
+from examples.rocket_drone_lqr.control.lqr_controller import LQRController
+from examples.rocket_drone_lqr.sim.dynamics import RocketState
+from examples.rocket_drone_lqr.sim.limits import RocketLimits
+from examples.rocket_drone_lqr.sim.trajectory import TrajectoryPoint
+
+
+def test_lqr_controller_returns_limited_forces():
+    limits = RocketLimits()
+    controller = LQRController(limits)
+
+    state = RocketState(
+        x=0.0,
+        z=4.0,
+        theta=0.0,
+        vx=0.0,
+        vz=0.0,
+        omega=0.0,
+    )
+
+    reference = TrajectoryPoint(
+        x=1.0,
+        z=4.2,
+        vx=0.2,
+        vz=0.0,
+        ax=0.0,
+        az=0.0,
+        theta=0.0,
+    )
+
+    forces = controller.control(state, reference)
+
+    assert limits.f1_min <= forces.f1 <= limits.f1_max
+    assert limits.f2_min <= forces.f2 <= limits.f2_max
+    assert limits.f3_min <= forces.f3 <= limits.f3_max
+
+
+def test_lqr_controller_uses_f2_for_right_motion():
+    controller = LQRController()
+
+    state = RocketState(
+        x=0.0,
+        z=4.0,
+        theta=0.0,
+        vx=0.0,
+        vz=0.0,
+        omega=0.0,
+    )
+
+    reference = TrajectoryPoint(
+        x=1.0,
+        z=4.0,
+        vx=0.5,
+        vz=0.0,
+        ax=0.0,
+        az=0.0,
+        theta=0.0,
+    )
+
+    forces = controller.control(state, reference)
+
+    assert forces.f2 > 0.0
+    assert forces.f3 == 0.0
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/tests/test_messages.py b/examples/rocket_drone_lqr/tests/test_messages.py
new file mode 100644
index 0000000..f72492b
--- /dev/null
+++ b/examples/rocket_drone_lqr/tests/test_messages.py
@@ -0,0 +1,36 @@
+from examples.rocket_drone_lqr.communication.messages import (
+    ControlRequest,
+    ControlResponse,
+)
+from examples.rocket_drone_lqr.sim.dynamics import RocketForces, RocketState
+from examples.rocket_drone_lqr.sim.trajectory import TrajectoryPoint
+
+
+def test_control_request_roundtrip():
+    request = ControlRequest(
+        time=1.5,
+        state=RocketState(x=1.0, z=2.0, theta=0.1, vx=0.2, vz=0.3, omega=0.4),
+        reference=TrajectoryPoint(
+            x=1.1,
+            z=2.1,
+            vx=0.2,
+            vz=0.3,
+            ax=0.0,
+            az=0.0,
+            theta=0.0,
+        ),
+    )
+
+    restored = ControlRequest.from_dict(request.to_dict())
+
+    assert restored == request
+
+
+def test_control_response_roundtrip():
+    response = ControlResponse(
+        forces=RocketForces(f1=9.8, f2=0.5, f3=0.1),
+    )
+
+    restored = ControlResponse.from_dict(response.to_dict())
+
+    assert restored == response
\ No newline at end of file
diff --git a/examples/rocket_drone_lqr/tests/test_zmq_protocol.py b/examples/rocket_drone_lqr/tests/test_zmq_protocol.py
new file mode 100644
index 0000000..9970efb
--- /dev/null
+++ b/examples/rocket_drone_lqr/tests/test_zmq_protocol.py
@@ -0,0 +1,26 @@
+import threading
+import time
+
+from examples.rocket_drone_lqr.communication.zmq_protocol import ZmqClient, ZmqServer
+
+
+def test_zmq_request_response_roundtrip():
+    endpoint = "tcp://127.0.0.1:5567"
+    received = {}
+
+    def server_task():
+        server = ZmqServer(endpoint)
+        message = server.receive()
+        received.update(message)
+        server.send({"ok": True, "value": message["value"]})
+
+    thread = threading.Thread(target=server_task, daemon=True)
+    thread.start()
+
+    time.sleep(0.1)
+
+    client = ZmqClient(endpoint)
+    response = client.request({"value": 42})
+
+    assert response == {"ok": True, "value": 42}
+    assert received == {"value": 42}
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index 370ab92..f1e29a6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,7 +8,9 @@ dependencies = [
     "numpy>=2.4.4",
     "pre-commit>=4.6.0",
     "pytest>=9.0.3",
+    "pyzmq>=27.1.0",
     "ruff>=0.15.12",
+    "scipy>=1.18.0",
 ]
 
 [tool.ruff.lint]
diff --git a/uv.lock b/uv.lock
index 2eff7b6..8c7783f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,6 +2,63 @@ version = 1
 revision = 3
 requires-python = ">=3.12"
 
+[[package]]
+name = "cffi"
+version = "2.0.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pycparser", marker = "implementation_name != 'PyPy'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/eb/56/b1ba7935a17738ae8453301356628e8147c79dbb825bcbc73dc7401f9846/cffi-2.0.0.tar.gz", hash = "sha256:44d1b5909021139fe36001ae048dbdde8214afa20200eda0f64c068cac5d5529", size = 523588, upload-time = "2025-09-08T23:24:04.541Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/ea/47/4f61023ea636104d4f16ab488e268b93008c3d0bb76893b1b31db1f96802/cffi-2.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:6d02d6655b0e54f54c4ef0b94eb6be0607b70853c45ce98bd278dc7de718be5d", size = 185271, upload-time = "2025-09-08T23:22:44.795Z" },
+    { url = "https://files.pythonhosted.org/packages/df/a2/781b623f57358e360d62cdd7a8c681f074a71d445418a776eef0aadb4ab4/cffi-2.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:8eca2a813c1cb7ad4fb74d368c2ffbbb4789d377ee5bb8df98373c2cc0dee76c", size = 181048, upload-time = "2025-09-08T23:22:45.938Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/df/a4f0fbd47331ceeba3d37c2e51e9dfc9722498becbeec2bd8bc856c9538a/cffi-2.0.0-cp312-cp312-manylinux1_i686.manylinux2014_i686.manylinux_2_17_i686.manylinux_2_5_i686.whl", hash = "sha256:21d1152871b019407d8ac3985f6775c079416c282e431a4da6afe7aefd2bccbe", size = 212529, upload-time = "2025-09-08T23:22:47.349Z" },
+    { url = "https://files.pythonhosted.org/packages/d5/72/12b5f8d3865bf0f87cf1404d8c374e7487dcf097a1c91c436e72e6badd83/cffi-2.0.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b21e08af67b8a103c71a250401c78d5e0893beff75e28c53c98f4de42f774062", size = 220097, upload-time = "2025-09-08T23:22:48.677Z" },
+    { url = "https://files.pythonhosted.org/packages/c2/95/7a135d52a50dfa7c882ab0ac17e8dc11cec9d55d2c18dda414c051c5e69e/cffi-2.0.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:1e3a615586f05fc4065a8b22b8152f0c1b00cdbc60596d187c2a74f9e3036e4e", size = 207983, upload-time = "2025-09-08T23:22:50.06Z" },
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+
 [[package]]
 name = "simulator"
 version = "0.1.0"
@@ -286,7 +446,9 @@ dependencies = [
     { name = "numpy" },
     { name = "pre-commit" },
     { name = "pytest" },
+    { name = "pyzmq" },
     { name = "ruff" },
+    { name = "scipy" },
 ]
 
 [package.metadata]
@@ -294,7 +456,9 @@ requires-dist = [
     { name = "numpy", specifier = ">=2.4.4" },
     { name = "pre-commit", specifier = ">=4.6.0" },
     { name = "pytest", specifier = ">=9.0.3" },
+    { name = "pyzmq", specifier = ">=27.1.0" },
     { name = "ruff", specifier = ">=0.15.12" },
+    { name = "scipy", specifier = ">=1.18.0" },
 ]
 
 [[package]]