plant;
% -------------------------------------------
cvx_solver('sedumi');    % SeDuMi の使用を明示
% -------------------------------------------
cvx_begin sdp
    variable gamma(1,1)
    variable X(n,n) symmetric
    variable Z(n,m)
    % ---------------------------------------
    minimize(gamma)
    % ---------------------------------------
    AX = A*X + B2*Z';
    CX = C1*X + D12*Z';
    % ---------------------------------------
    M1 = [ r*X      AX-c*X
           AX'-c*X  r*X    ];
    M1 > 0;
    % ---------------------------------------
    M2 = [ AX+AX' B1            CX'
           B1'   -gamma*eye(q)  D11'
           CX     D11          -gamma*eye(p) ];
    M2 < 0;   
cvx_end
% -------------------------------------------
K = Z'*inv(X)
