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From: Carlos on 4 Jun 2006 23:31
Can anyone be of help in telling me why I'm getting the error when I
use the LMI toolbox and/or how to correct it? Everything seems to be
of the right dimension:

??? Error using ==> lmiterm
lhs of LMI #1, block (1,1): terms in diagonal blocks must be square

Error in ==> test_lmi at 24
lmiterm([1 1 1 P1],.5*1,B1*K1,'s'); % LMI #1: P1*B1*K1 (NON
SYMMETRIC?)

Riccati equation: A1'*P1 + P1*A1 + K1'*B1'*P1' + P1*B1*K1

A1 = [2 0.1;0 1];
B1 = [1 ; 1];

setlmis([])

P1 = lmivar(1,[2 1]);
K1 = lmivar(2,[1 2]);

lmiterm([1 1 1 P1],A1',1,'s'); % LMI #1: A1'*P1+P1*A1
lmiterm([1 1 1 -K1],.5*1,B1'*P1','s'); % LMI #1: K1'*B1'*P1' (NON
SYMMETRIC?)
lmiterm([1 1 1 P1],.5*1,B1*K1,'s'); % LMI #1: P1*B1*K1 (NON
SYMMETRIC?)

lmiterm([-2 1 1 P1],1,1); % LMI #2:P1
lmi_test = getlmis;
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