Bookgzippedpsfile(0.8Mb)LinearMatrixInequalitiesinSystemandControlTheoryStephenBoyd,LaurentElGhaoui,E.Feron,andV.BalakrishnanVolume15ofStudiesinAppliedMathematicsSocietyforIndustrialandAppliedMathematics(SIAM),1994ISBN0-89871-334-X