B=-[1;1];
  P = sdpvar(2,2); K = sdpvar(1,2);
  F = [(A+B*K)'*P+P*(A+B*K) &lt; -eye(2); P&gt;eye(2)]
  yalpen=export(F,trace(P),sdpsettings('solver','penbmi'),[],[],1);
%PENLAB commands
  bmi=yalmip2bmi(yalpen);
  penm = bmi_define(bmi);
  prob = penlab(penm);
  solve(prob);
  K = (prob.x(4:5))';</pre><p><html><a  href="#top_of_page">Back to Top</a> </html></p>
         <h2>Pre-programmed interfaces<a name="8"></a></h2>
         <p>PENlab distribution contains several pre-programmed interfaces for standard 