Improvement of the LMI method of [Scherer 2000] for multi-objective designs

This implements an improvement based on a new insight of the change of variables proposed in [S00].

These files allow to reproduce the results obtained on an example from [S00], presented in the article
Improvement of the LMI change of variables for multi-objective
control design problems in Optimal Control Applications and Methods and available on http://onlinelibrary.wiley.com/doi/10.1002/oca.2040/pdf

The point is that the sequence of objective values of the increasing order Youla parameters converges faster (i.e. for smaller orders) towards the globally optimal value (which is important because otherwise the order of the parameters may become too big, that is the LMIs may easily involve too many variables).

S00 is the following article:
C.W.~Scherer. "An efficient solution to multi-objective control problem with LMI objectives." in Systems & Control Letters, volume 40:43-57, 2000.
http://dx.doi.org/10.1016/S0167-6911(99)00122-X

Requires the LMI toolbox.