Hello, I’m new with CVX.
Itry to find positive matrix P, to use a common Lyapunov function for a family of linear time-varying system.
A matix is \begin{pmatrix} -1 & \alpha \\\alpha & -2 \end{pmatrix}, where |\alpha(t)|\leq1.
Here is my script:
cvx_begin
variable P(2, 2) symmetric
variable alpha_var
A = [-1, alpha_var; alpha_var, -2];
variable lambda
minimize(lambda)
subject to
abs(alpha_var) <= 1
A’P + PA + lambda*P <= 0;
P >= 0; % ensure P is positive definite
cvx_end
I go the following error:
Error using *
Disciplined convex programming error:
Only scalar quadratic forms can be specified in CVX
Thanks!