A = [-1.0  0.0  4.0  5.0 -3.0 -2.0
     -2.0  4.0 -7.0 -2.0  0.0  3.0
     -6.0  9.0 -5.0  0.0  2.0 -1.0
     -8.0  4.0  7.0 -1.0 -3.0  0.0
      2.0  5.0  8.0 -9.0  1.0 -4.0
      3.0 -5.0  8.0  0.0  2.0 -6.0];

B = [-3.0 -4.0 -2.0  1.0  0.0
      2.0  0.0  1.0 -5.0  2.0
     -5.0 -7.0  0.0  7.0 -2.0
      4.0 -6.0  1.0  1.0 -2.0
     -3.0  9.0 -8.0  0.0  5.0
      1.0 -2.0  3.0 -6.0 -2.0];

C = [ 1.0 -1.0  2.0 -4.0  0.0 -3.0
     -3.0  0.0  5.0 -1.0  1.0  1.0
     -7.0  5.0  0.0 -8.0  2.0 -2.0
      9.0 -3.0  4.0  0.0  3.0  7.0
      0.0  1.0 -2.0  1.0 -6.0 -2.0];

D = [ 1.0 -2.0 -3.0  0.0  0.0
      0.0  4.0  0.0  1.0  0.0
      5.0 -3.0 -4.0  0.0  1.0
      0.0  1.0  0.0  1.0 -3.0
      0.0  0.0  1.0  7.0  1.0];

P = ss (A, B, C, D);
K = hinfsyn (P, 2, 2, 15);
M = [K.A, K.B; K.C, K.D];

KA = [ -2.8043  14.7367   4.6658   8.1596   0.0848   2.5290
        4.6609   3.2756  -3.5754  -2.8941   0.2393   8.2920
      -15.3127  23.5592  -7.1229   2.7599   5.9775  -2.0285
      -22.0691  16.4758  12.5523 -16.3602   4.4300  -3.3168
       30.6789  -3.9026  -1.3868  26.2357  -8.8267  10.4860
       -5.7429   0.0577  10.8216 -11.2275   1.5074 -10.7244];

KB = [ -0.1581  -0.0793
       -0.9237  -0.5718
        0.7984   0.6627
        0.1145   0.1496
       -0.6743  -0.2376
        0.0196  -0.7598];

KC = [ -0.2480  -0.1713  -0.0880   0.1534   0.5016  -0.0730
        2.8810  -0.3658   1.3007   0.3945   1.2244   2.5690];

KD = [  0.0554   0.1334
       -0.3195   0.0333];

M_exp = [KA, KB; KC, KD];

K