国外专家做的求解LMI鲁棒控制的工具箱,可以相对高效的解决LMI问题

				function X = plus(X,Y)
				%PLUS Merges two LMI objects to one LMI
				
				% Author Johan L鰂berg
				% $Id: plus.m,v 1.8 2005/02/10 16:43:32 johanl Exp $
				
				if ~((isa(X,'lmi')) & (isa(Y,'lmi')))
				    error('Both arguments must be SET objects')
				end
				
				
				nX = length(X.clauses);
				nY = length(Y.clauses);
				
				if nX+nY == 0
				    return
				end
				
				X.clauses = {X.clauses{:},Y.clauses{:}};
				X.LMIid = [X.LMIid Y.LMIid];
				
				% VERY FAST UNIQUE BECAUSE THIS IS CALLED A LOT OF TIMES....
				i = sort(X.LMIid);
				i = i(diff([i NaN])~=0); 
				if length(i)				    [i,j] = unique(X.LMIid);
				    X = subsref(X,struct('type','()','subs',{{j}}));
				end