lmi_asym(lmi)

function lmi = lmi_asym(lmi)
%LMI_ASYM

R = size(lmi.A, 1);
A = lmi.A;
B = lmi.B;
X = lmi.X;
M = lmi.M;
n = lmi.n;
m = lmi.m;

% -X*Ar' - Ar*X + Br*Mr + Mr'*Br' > 0
for r = 1:R
	Ar = reshape(A(r,:,:), [n n]);
	Br = reshape(B(r,:,:), [n m]);
	lmi.F = lmi.F + set(-X*Ar' - Ar*X + Br*M{r} + M{r}'*Br' > 0, sprintf('type1 lmi %d', r));
end

% -X*Ar' - Ar*X - X*As' - As*X + Br*Ms + Ms'*Br' + Bs*Mr + Mr'*Bs' >= 0
for r = 1:R
	for s = r+1:R
		Ar = reshape(A(r,:,:), [n n]);
		As = reshape(A(s,:,:), [n n]);
		Br = reshape(B(r,:,:), [n m]);
		Bs = reshape(B(s,:,:), [n m]);
		lmi.F = lmi.F + set(-X*Ar' - Ar*X - X*As' - As*X + Br*M{s} + M{s}'*Br' + Bs*M{r} + M{r}'*Bs' >= 0, sprintf('type2 lmi %d', r));
	end
end