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Convex parameterization of fixed-order robust stabilizing controllers for systems with polytopic uncertainty is represented as a linear matrix inequality (LMI) using the Kalman-Yakubovich-Popov (KYP) lemma. This parameterization is a convex inner approximation of the whole nonconvex set of stabilizing controllers, and depends on the choice of a central polynomial. It is shown that, with an appropriate...
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