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function [K,F2,F0]=KFIinfd(P,X,gam) % K=KFIinfd(P,X) % % Generate full information, discrete-time, Hinf-suboptimal controller gain [A,B1,B2,C1,C2,D11,D12,D21,D22,Ts]=GetSS(P); [n,p,q,l,m]=Getsz(P); B=[B1 B2]; Cb=[C1;zeros(l,n)]; Db=[D11 D12;eye(l) zeros(l,m)]; J=[eye(p) zeros(p,l); zeros(l,p) eye(l)*-gam^2]; R=Db'*J*Db+B'*X*B; L=Db'*J*Cb+B'*X*A; R1=R(1:l,1:l); R2=R(1:l,l+1:l+m)'; R3=R(l+1:l+m,l+1:l+m); L2=L(l+1:l+m,:); invR3=inv(R3); F2=-invR3*L2; F0=-invR3*R2; K=[F2 F0];