if casos==1
P=sdpvar(n,n,'symmetric');
Ac=[-0.1 0 0 0 ;gy-0.721 -gy 0 0;7.208*gy-5.196 -6.208*gy -gy 0;51.954*gy-37.448 -44.746*gy -6.208*gy gy];
Cc=[0 0 0 Kpss];
options = sdpsettings('solver','lmilab');
LMIs = set(P>0);
LMIs = LMIs + ...
set(Am(:,1:8)'*P+P*Am(:,1:8)<0);
LMIs =LMIs +...
set([sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8)) cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8));cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8))' sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8))] <0);
options = sdpsettings('solver','sdpt3');
solvesdp(LMIs,[],options);
checkset(LMIs);
P=double(P);
P
gy=sdpvar(1,1,'full');
Kpss=sdpvar(1,1,'full');
sigma=sdpvar(1,1,'full')
Ac=[-0.1 0 0 0 ;gy-0.721 -gy 0 0;7.208*gy-5.196 -6.208*gy -gy 0;51.954*gy-37.448 -44.746*gy -6.208*gy gy];
Cc=[0 0 0 Kpss];
options = sdpsettings('solver','lmilab');
LMIs =LMIs +...
set([sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8)) cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8));cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8))' sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8))] -sigma*eye(16)<0);
options = sdpsettings('solver','sdpt3');
solvesdp(LMIs,sigma,options);
checkset(LMIs);
sigma=double(sigma)
sigma
if sigma <0
Am(5:8,5:8) % de aqui puedo determinar los parametros Kpss y gy
break
while sigma > 0
P=sdpvar(n,n,'symmetric');
gy=sdpvar(1,1,'full');
Kpss=sdpvar(1,1,'full');
sigma=sdpvar(1,1,'full')
Ac=[-0.1 0 0 0 ;gy-0.721 -gy 0 0;7.208*gy-5.196 -6.208*gy -gy 0;51.954*gy-37.448 -44.746*gy -6.208*gy gy];
Cc=[0 0 0 Kpss];
options = sdpsettings('solver','lmilab');
LMIs = set(P>0);
LMIs = LMIs + ...
set(Am(:,1:8)'*P+P*Am(:,1:8)<0);
LMIs =LMIs +...
set([sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8)) cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8));cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8))' sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8))] -sigma*eye(16)<0);
options = sdpsettings('solver','sdpt3');
solvesdp(LMIs,sigma,options);
checkset(LMIs);
sigma=double(sigma)
if sigma<0
Am(5:8,5:8)
break
else
P=sdpvar(n,n,'symmetric');
Ac=[-0.1 0 0 0 ;gy-0.721 -gy 0 0;7.208*gy-5.196 -6.208*gy -gy 0;51.954*gy-37.448 -44.746*gy -6.208*gy gy];
Cc=[0 0 0 Kpss];
options = sdpsettings('solver','lmilab');
LMIs = set(P>0);
LMIs = LMIs + ...
set(Am(:,1:8)'*P+P*Am(:,1:8)<0);
LMIs =LMIs +...
set([sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8)) cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8));cos(deg2rad(grad))*(Am(:,1:8)'*P-P*Am(:,1:8))' sin(deg2rad(grad))*(Am(:,1:8)'*P+P*Am(:,1:8))] <0);
options = sdpsettings('solver','sdpt3');
solvesdp(LMIs,[],options);
checkset(LMIs);
P=double(P);
P
end
end
end
end