agentOpts = rlPPOAgentOptions(...
    'SampleTime',Ts,...
    'ExperienceHorizon',200,...
    'ClipFactor',0.2,... 
    'EntropyLossWeight',0.01,...
    'MiniBatchSize',64,...
    'NumEpoch',3,...
    'AdvantageEstimateMethod',"gae",...
    'GAEFactor',0.95,...
    'DiscountFactor',0.998);
agent = rlPPOAgent(actor,critic,agentOpts);