How can I use dynamic programming in optimal control LQR problem?

hello,

Can any one help me with dynamic programming algorithm in matlab for an optimal control problem?

x(k+1)=[0.9 0.02; -1 1.9]x(k)+[0.02; 0.03]u(k); q=[0.2 0;0 0.2]; H=0; R=0.05; j=1/2 (0.2x1^2+0.03x2^2+0.05u^2)

thanks...