ɪf ˈɔːl ðə mˈeɪtɹɪsˌiːz ɪnðə pɹˈɑːbləm fˌɔːɹmjʊlˈeɪʃən ɑːɹ tˈaɪmɪnvˈɛɹiənt ænd ɪf ðə hɚɹˈaɪzən tˈɛndz tʊ ɪnfˈɪnᵻɾi ðə dɪskɹˈiːttˈaɪm ˌɛlkjˌuːdʒˈiː kəntɹˈoʊlɚ bɪkˌʌmz tˈaɪmɪnvˈɛɹiənt.
If all the matrices in the problem formulation are time-invariant and if the horizon  tends to infinity the discrete-time LQG controller becomes time-invariant.