The contribution of this paper is twofold. First we give a generalization of the S ‐procedure which has been proven useful for robustness analysis of control systems. We then apply the generalized S ‐procedure to derive an extension of the Kalman – Yakubovich – Popov lemma that converts a frequency domain condition within a finite interval to a linear matrix inequality condition suitable for numerical computations.
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Iwasaki et al. (2000) studied this question.
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