The function *iqclmi* facilitates the definition of new LMI constraints. In the present version of the toolbox, this is limited to generating LMIs of the form

Here:

- is a symmetric structured matrix variable defined with the class
*iqcvar* - is the inertia of the LMI (i.e., and mean positive- and negative definite respectively)
- is a constant symmetric matrix
- is a constant matrix
- is a constant matrix (e.g., an annihilator)
- is a small constant enforcing the LMI to be strict (this constant can be modified by changing the property
*eps*in the*iqcprob*class

*Note: It is emphasized that all LMIs can be written in this form. Clearly, this still requires some additional parsing. In future releases the aim is to further mature this.*

Specifying LMIs proceeds as follows.

Input | Output |

This generates the LMI | |

This generates the LMI | |

This generates the LMI | |

This generates the LMI |