μ-Synthesis with Matrix Valued Scalings - Algorithms and Examples Tomas McKelvey and Anders Helmersson Department of Electrical Engineering Linkping University, S-581 83 Linkping, Sweden WWW: http://www.control.isy.liu.se Email: {tomas,andersh}@isy.liu.se March 1999 R E G L E R T E K N I K A U T O M A T I C C O N T R O L LINKÖPING Report no.: LiTH-ISY-R-2134 Presented at the American Control Conference, Albuquerque, NM, 1997, pp 361-365 Technical reports from the Automatic Control group in Linkping are available by anonymous ftp at the address ftp.control.isy.liu.se. This report is contained in the pdf-file 2134.pdf.