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          xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML"
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          xml:lang="en" xml:id="h_inf_st">
    <refnamediv>
        <refname>h_inf_st</refname>
        <refpurpose>static H_infinity problem</refpurpose>
    </refnamediv>
    <refsynopsisdiv>
        <title>Syntax</title>
        <synopsis>[Kopt, gamaopt] = h_inf_stat(D, r)</synopsis>
    </refsynopsisdiv>
    <refsection>
        <title>Arguments</title>
        <variablelist>
            <varlistentry>
                <term>D</term>
                <listitem>
                    <para>real matrix</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>r</term>
                <listitem>
                    <para>1x2 vector</para>
                </listitem>
            </varlistentry>
            <varlistentry>
                <term>Kopt</term>
                <listitem>
                    <para>matrix</para>
                </listitem>
            </varlistentry>
        </variablelist>
    </refsection>
    <refsection>
        <title>Description</title>
        <para>
            computes a matrix <literal>Kopt</literal> such that largest singular value of:
        </para>
        <para>
            <literal>lft(D,r,K)=D11+D12* K*inv(I-D22*K)* D21</literal>
            is minimal (Static <literal>H_infinity</literal> four blocks problem).
        </para>
        <para>
            D is partitioned as <literal>D=[D11 D12; D21 D22]</literal>
            where <literal>size(D22)=r=[r1 r2]</literal>
        </para>
    </refsection>
</refentry>
