diff --git a/source-code/Pseudocode/sarsa/Makefile b/source-code/Pseudocode/sarsa/Makefile
new file mode 100644
index 0000000..fa17354
--- /dev/null
+++ b/source-code/Pseudocode/sarsa/Makefile
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+SOURCE = sarsa
+DELAY = 80
+DENSITY = 300
+WIDTH = 512
+
+make:
+	pdflatex $(SOURCE).tex -output-format=pdf
+	pdflatex $(SOURCE).tex -output-format=pdf
+	make clean
+
+clean:
+	rm -rf  $(TARGET) *.class *.html *.log *.aux *.data *.gnuplot
+
+gif:
+	pdfcrop $(SOURCE).pdf
+	convert -verbose -delay $(DELAY) -loop 0 -density $(DENSITY) $(SOURCE)-crop.pdf $(SOURCE).gif
+	make clean
+
+png:
+	make
+	make svg
+	inkscape $(SOURCE).svg -w $(WIDTH) --export-png=$(SOURCE).png
+
+transparentGif:
+	convert $(SOURCE).pdf -transparent white result.gif
+	make clean
+
+svg:
+	make
+	#inkscape $(SOURCE).pdf --export-plain-svg=$(SOURCE).svg
+	pdf2svg $(SOURCE).pdf $(SOURCE).svg
+	# Necessary, as pdf2svg does not always create valid svgs:
+	inkscape $(SOURCE).svg --export-plain-svg=$(SOURCE).svg
+	rsvg-convert -a -w $(WIDTH) -f svg $(SOURCE).svg -o $(SOURCE)2.svg
+	inkscape $(SOURCE)2.svg --export-plain-svg=$(SOURCE).svg
+	rm $(SOURCE)2.svg
diff --git a/source-code/Pseudocode/sarsa/README.md b/source-code/Pseudocode/sarsa/README.md
new file mode 100644
index 0000000..8296a6c
--- /dev/null
+++ b/source-code/Pseudocode/sarsa/README.md
@@ -0,0 +1,3 @@
+Compiled example
+----------------
+![Example](sarsa.png)
diff --git a/source-code/Pseudocode/sarsa/sarsa.png b/source-code/Pseudocode/sarsa/sarsa.png
new file mode 100644
index 0000000..8f41064
Binary files /dev/null and b/source-code/Pseudocode/sarsa/sarsa.png differ
diff --git a/source-code/Pseudocode/sarsa/sarsa.tex b/source-code/Pseudocode/sarsa/sarsa.tex
new file mode 100644
index 0000000..9ee3a20
--- /dev/null
+++ b/source-code/Pseudocode/sarsa/sarsa.tex
@@ -0,0 +1,50 @@
+\documentclass{article}
+\usepackage[pdftex,active,tightpage]{preview}
+\setlength\PreviewBorder{2mm}
+
+\usepackage[utf8]{inputenc} % this is needed for umlauts
+\usepackage[ngerman]{babel} % this is needed for umlauts
+\usepackage[T1]{fontenc}    % this is needed for correct output of umlauts in pdf
+\usepackage{amssymb,amsmath,amsfonts} % nice math rendering
+\usepackage{braket} % needed for \Set
+\usepackage{caption}
+\usepackage{algorithm}
+\usepackage[noend]{algpseudocode}
+
+\DeclareCaptionFormat{myformat}{#3}
+\captionsetup[algorithm]{format=myformat}
+
+\begin{document}
+\begin{preview}
+    \begin{algorithm}[H]
+        \begin{algorithmic}
+        \Require
+        \Statex Sates $\mathcal{X} = \{1, \dots, n_x\}$
+        \Statex Actions $\mathcal{A} = \{1, \dots, n_a\},\qquad A: \mathcal{X} \Rightarrow \mathcal{A}$
+        \Statex Reward function $R: \mathcal{X} \times \mathcal{A} \rightarrow \mathbb{R}$
+        \Statex Black-box (probabilistic) transition function $T: \mathcal{X} \times \mathcal{A} \rightarrow \mathcal{X}$
+        \Statex Learning rate $\alpha \in [0, 1]$, typically $\alpha = 0.1$
+        \Statex Discounting factor $\gamma \in [0, 1]$
+        \Statex $\lambda \in [0, 1]$: Trade-off between TD and MC
+        \Procedure{SARSA}{$\mathcal{X}$, $A$, $R$, $T$, $\alpha$, $\gamma$, $\lambda$}
+            \State Initialize $Q: \mathcal{X} \times \mathcal{A} \rightarrow \mathbb{R}$ arbitrarily
+            \While{$Q$ is not converged}
+                \State Select $(s, a) \in \mathcal{X} \times \mathcal{A}$ arbitrarily
+                \While{$s$ is not terminal}
+                    \State $r \gets R(s, a)$ \Comment{Receive the reward}
+                    \State $s' \gets T(s, a)$ \Comment{Receive the new state}
+                    \State Calculate $\pi$ based on $Q$ (e.g. epsilon-greedy)
+                    \State $a' \gets \pi(s')$
+                    \State $Q(s, a) \gets (1 - \alpha ) \cdot Q(s, a) + \alpha \cdot (r + \gamma Q(s', a'))$
+                    \State $s \gets s'$
+                    \State $a \gets a'$
+                \EndWhile
+            \EndWhile
+            \Return $Q$
+        \EndProcedure
+        \end{algorithmic}
+    \caption{SARSA: Learn function $Q: \mathcal{X} \times \mathcal{A} \rightarrow \mathbb{R}$}
+    \label{alg:sarsa}
+    \end{algorithm}
+\end{preview}
+\end{document}
\ No newline at end of file