A = [-0.7  0.0  0.3  0.0 -0.5 -0.1
     -0.6  0.2 -0.4 -0.3  0.0  0.0
     -0.5  0.7 -0.1  0.0  0.0 -0.8
     -0.7  0.0  0.0 -0.5 -1.0  0.0
      0.0  0.3  0.6 -0.9  0.1 -0.4
      0.5 -0.8  0.0  0.0  0.2 -0.9];

B = [-1.0 -2.0 -2.0  1.0  0.0
      1.0  0.0  1.0 -2.0  1.0
     -3.0 -4.0  0.0  2.0 -2.0
      1.0 -2.0  1.0  0.0 -1.0
      0.0  1.0 -2.0  0.0  3.0
      1.0  0.0  3.0 -1.0 -2.0];

C = [ 1.0 -1.0  2.0 -2.0  0.0 -3.0
     -3.0  0.0  1.0 -1.0  1.0  0.0
      0.0  2.0  0.0 -4.0  0.0 -2.0
      1.0 -3.0  0.0  0.0  3.0  1.0
      0.0  1.0 -2.0  1.0  0.0 -2.0];

D = [ 1.0 -1.0 -2.0  0.0  0.0
      0.0  1.0  0.0  1.0  0.0
      2.0 -1.0 -3.0  0.0  1.0
      0.0  1.0  0.0  1.0 -1.0
      0.0  0.0  1.0  2.0  1.0];

P = ss (A, B, C, D, 1);  # value of sampling time doesn't matter
K = hinfsyn (P, 2, 2, 111.294);
M = [K.A, K.B; K.C, K.D];

KA = [-18.0030  52.0376  26.0831  -0.4271 -40.9022  18.0857
       18.8203 -57.6244 -29.0938   0.5870  45.3309 -19.8644
      -26.5994  77.9693  39.0368  -1.4020 -60.1129  26.6910
      -21.4163  62.1719  30.7507  -0.9201 -48.6221  21.8351
       -0.8911   4.2787   2.3286  -0.2424  -3.0376   1.2169
       -5.3286  16.1955   8.4824  -0.2489 -12.2348   5.1590];

KB = [ 16.9788  14.1648
      -18.9215 -15.6726
       25.2046  21.2848
       20.1122  16.8322
        1.4104   1.2040
        5.3181   4.5149];

KC = [ -9.1941  27.5165  13.7364  -0.3639 -21.5983   9.6025
        3.6490 -10.6194  -5.2772   0.2432   8.1108  -3.6293];

KD = [  9.0317   7.5348
       -3.4006  -2.8219];

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

K