plant;
% -------------------------------------------
gamma = sdpvar(1,1);
X     = sdpvar(n,n,'sy');
Z     = sdpvar(n,m,'f');
% -------------------------------------------
LMI = [];               % ---> set に代わる新しい記述形式 []
% -------------------------------------------
AX = A*X + B2*Z';
CX = C1*X + D12*Z';
% -------------------------------------------
M1 = [ r*X      AX-c*X
       AX'-c*X  r*X    ];
LMI = [LMI, M1 > 0];    % ---> set に代わる新しい記述形式 []
% -------------------------------------------
M2 = [ AX+AX' B1            CX'
       B1'   -gamma*eye(q)  D11'
       CX     D11          -gamma*eye(p) ];
LMI = [LMI, M2 < 0];    % ---> set に代わる新しい記述形式 []
% -------------------------------------------
opt = sdpsettings; opt.solver = 'lmilab';
solvesdp(LMI,gamma,opt) 
%%% もしくは上 2 行の代わりに
%%% solvesdp(LMI,gamma,sdpsettings('solver','lmilab')) 
% -------------------------------------------
gamma_opt = double(gamma)
X_opt = double(X)
Z_opt = double(Z)
% -------------------------------------------
K_opt = Z_opt'*inv(X_opt)
