h_inf_st static H_infinity problem

## Syntax

    [Kopt, gamaopt] = h_inf_stat(D, r)

## Arguments

D

  real matrix

r

  1x2 vector

Kopt

  matrix

## Description

computes a matrix `Kopt` such that largest singular value of:

`lft(D,r,K)=D11+D12* K*inv(I-D22*K)* D21` is minimal (Static `H_infinity` four blocks problem).

D is partitioned as `D=[D11 D12; D21 D22]` where `size(D22)=r=[r1 r2]`