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2. LMIs are inequalities of the form
 
 
 
where is known and is a variable for i = 0 ... n. However, in controls LMIs are most naturally formulated as
 
  and ,
 
where are known, is symmetric, and s an unknown matrix. Show that any expression of the form 4 can be written in the form 3 (or show the opposite).

 

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