@article{
KanSch:03-007,
author={S. Kanev and C. Scherer and M. Verhaegen and B. {D}e Schutter},
title={Robust Output-Feedback Controller Design via Local {BMI}
Optimization},
journal={Automatica},
volume={40},
number={7},
pages={1115--1127},
month=jul,
year={2004},
doi={
10.1016/j.automatica.2004.01.028}
}