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');