WT = ss(WT); % to force the resultant generalized plant to be SSR

systemnames = 'P0 WT';
inputvar = '[ w; u ]';
outputvar = '[ WT; -w-P0 ]';
input_to_P0 = '[ u ]';
input_to_WT = '[ P0 ]';
cleanupsysic = 'yes';
G = sysic;

[K, clp, gopt] = hinfsyn(G, 1, 1, 'GMIN', 1., 'GMAX', 1, 'DISPLAY', 'on');
