[wpimath] DARE: Use wpi::expected instead of exceptions (#7312)

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -5,7 +5,6 @@
 package edu.wpi.first.math.controller;
 
 import edu.wpi.first.math.DARE;
-import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.StateSpaceUtil;
@@ -110,17 +109,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
     var discA = discABPair.getFirst();
     var discB = discABPair.getSecond();
 
-    if (!StateSpaceUtil.isStabilizable(discA, discB)) {
-      var msg =
-          "The system passed to the LQR is unstabilizable!\n\nA =\n"
-              + discA.getStorage().toString()
-              + "\nB =\n"
-              + discB.getStorage().toString()
-              + '\n';
-      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
-      throw new IllegalArgumentException(msg);
-    }
-
     var S = DARE.dare(discA, discB, Q, R);
 
     // K = (BᵀSB + R)⁻¹BᵀSA