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function [X,Y,L]=h2hinf(A,B1,B2,C1,C2,D11,D12,D22,gama)
// Copyright INRIA
// Generated by lmitool on Mon Feb 06 17:09:19 MET 1995
Mbound = 1e3;
abstol = 1e-10;
nu = 10;
maxiters = 100;
reltol = 1e-10;
options=[Mbound,abstol,nu,maxiters,reltol];
/////////////////DO NOT REMOVE THIS LINE
X_init=eye(A)
Y_init=zeros(C2*C2')
L_init=zeros(B2')
/////////////////DO NOT REMOVE THIS LINE
XLIST0=list(X_init,Y_init,L_init)
XLIST=lmisolver(XLIST0,h2hinf_eval,options)
[X,Y,L]=XLIST(:)
/////////////////EVALUATION FUNCTION////////////////////////////
function [LME,LMI,OBJ]=h2hinf_eval(XLIST)
[X,Y,L]=XLIST(:)
/////////////////DO NOT REMOVE THIS LINE
LME=list(X-X',Y-Y');
LMI=list(-[A*X+B2*L+(A*X+B2*L)'+B1*B1',X*C1'+L'*D12'+B1*D11';...
(X*C1'+L'*D12'+B1*D11')',-gama^2*eye+D11*D11'],[Y,C2*X+D22*L;(C2*X+D22*L)',X])
OBJ=trace(Y);
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